adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3794, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6205, 9.388, 1.7509, -0.0415, 0.1636, -0.0513, -0.7179, -1.6068, 10.0034, 1.7753, -0.1197, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b549433d5b2280fc117ace34bbf0589a12295554fe7a83c28e7a89940289fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012815119f89adbd11616879fa5c90fe9ccd09a713cc6db1b79c412c48e4b148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa089771f85498667d1661c8b90a0fe3859e05621b4d7c20648223ca5cae54d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_07d29d1e2f1cf04f016ab4230125ac87d0b559c97522d55970",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.22,\"left_z\":0.15},\"note\":\"I see two turquoise baskets at the far side and pale plush objects near the table centre. I’ll bring the left gripper above the left-hand object to identify and align with it before grasping.\"}",
  "call_id": "call_HZvrxZuigMDTOCO8mWZeCRlN",
  "id": "fc_07d29d1e2f1cf04f016ab42303f91887d08ed8bbe9e8e07940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HZvrxZuigMDTOCO8mWZeCRlN",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.926, 1.467, 0.8715, -0.2668, -0.7341, -0.6449, 0.9995, -0.0193, 0.8013, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3139 left_y=-0.2145 left_z=0.1342 left_yaw=-0.0071 left_pitch=-0.0367 left_roll=0.0308 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1792 right_yaw=-0.0032 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.3658, 9.0598, 1.4481, -0.5055, -0.0415, -0.0122, 0.0615, -1.4974, 7.2137, 1.7949, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de744f810b92f66358ca84c156265c9a1a3b76dd3781fd181a0fba9ae9e8e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ed8fce1a01b0229443d8839a8b4fb3b4b37ad361dd551516c605ea6eb6bc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:031bcfeef80762dd4c4b0cd25aa189d27e15514eacdfaac45dfd507bbbd0c219",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3794, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6205, 9.388, 1.7509, -0.0415, 0.1636, -0.0513, -0.7179, -1.6068, 10.0034, 1.7753, -0.1197, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.926, 1.467, 0.8715, -0.2668, -0.7341, -0.6449, 0.9995, -0.0193, 0.8013, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3139 left_y=-0.2145 left_z=0.1342 left_yaw=-0.0071 left_pitch=-0.0367 left_roll=0.0308 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1792 right_yaw=-0.0032 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.3658, 9.0598, 1.4481, -0.5055, -0.0415, -0.0122, 0.0615, -1.4974, 7.2137, 1.7949, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de744f810b92f66358ca84c156265c9a1a3b76dd3781fd181a0fba9ae9e8e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ed8fce1a01b0229443d8839a8b4fb3b4b37ad361dd551516c605ea6eb6bc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:031bcfeef80762dd4c4b0cd25aa189d27e15514eacdfaac45dfd507bbbd0c219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMRne1mv09bKgDSKcUh1wF0jj-REAs7tvZ1gumMWQEPC-xeIkF1vpOt2CZLEAHOteqsO0-BRNnzKoTEJUw78439SlT1XYRuLu4mphYJY9RIEajQbI47Wr6mEzt7NnAWaa8F7WIVJ6aBsqHondbbMZynYeKLdjN8DNepXeiGwRmPdNUjaByhJ-hBf6pcwt-tJtD2t3snWsZ-aaNzjm98jwhP1qSQZWi2pzYCyL9i2aQ8Cflam280tnEHSnT8K1hRrrESiQ32Khob92j7PsDSm152-QUadHW03OPjjCufUumDzkMVFG-3mYQBYTc3iHogAPMtckvyVNMIdMecg70n7EziNreF6L0L-Q1YPGjZYstzs91jB_nKEAXnC9N9VYXpDSSUXLAaj5om5pPHKy4hE92_juA2z6y_X3I6htpoaLJuEFGIOZ8J3Mhm5UaiSd1m-PDPAkuLGJeUIjczropZpfet_cfEC2u1Y5zlgywpdBADmx-1pEZ7ew9H_d0_nTxR4krrqJfk2Rcx1rv_OAGz1OWKf-p5WL6DEl--AAre9iNThQj42pA4nT0Whu0Bo3wqRKA9zGcMaptQvZ6yHhd_TPmS8TvyYexLeT8J5Rd_Ykl3S2zHfB7QWaMymTeOO-fsk1OCLe9YsTP3dMhm2z5Nr50k0K8Zom5neKis_YrJbL4DpkICqcCNfbBNes0QKeEyEigBN4yGbXdgB_vaCtJ4W_nnUDdJB679QUIILocmkBlOG7UdqopVz-ZV2YlwU0nQyt5NLrnAxlUpLRQy5mG561dpJuKznoT9GHjLISzMgK35v6Jvw1pTwHROCXEpPp2hsYzUbfHFrJsTrH1KWO6P33S34df4iCoebAAxy_p-3-3M3VfPoPazDzyUYrDOGnkxDbarPfevm5b7tLuSoqpQ9619MezI85C43ukSplm6SSFrJwMKWjBZoNdeoCLZ0eVnWYWTdJnAovqoKwjyEXBKpWtGjkyjACVACqxOW0Xt1oz1cYrrmTJhq7N7xZG4wLrZOAsmzacVgmJHuMnpHIjNu5fORW4OlerjBmbfgTpOJcyUErK_wMnfmB_Rx2jlyMtELooRg9rwgbu4pxhZZpTJrDxOd8rGoMtJzlx1MRf8gSh5npG6nIifAL_jb3-D8C4snNl_F_EXEZoE7NYm1mA9xY94gEvirpiwfuDp39N10HBSTOiXMrQzJ8zghhzQjrRG2ZJpmEM0vVCiTyTvkSTPWZ3U9297_MdvH5bi9YI8hXTy7nD0adVUInTLPofZnRZYoHHJQ2DDKg2bMebBKoxwlmoZ5aT8tuLT4EQrdWvxHRhDIhBoLgTSSSUu1CVs_0rtSAlV_jBXgyjKA8b-pQZFvh3rcNjwDg-UnabcKXi1m8nQResB6xc-c_x7GsTI-zzlWKVFPdoDlyUHni6dovqPE4wd9oZBa29Bzgth_YhgbkmqgvqtE1f2C8OuVPEDxt1KQf0VbRva1ETp-Z6fm5xkC4VRjAS6C-uA_stebzACAoGfYN7VmfySIbx75VFaf1spGUX6BifVhJC2qZmZCjE5MlHWabG2MNr2OeFIR0biYCVdIUMAASE_ngjWjGW72Tj1Y6Z1kHj1z6ZTIYMghLLSxdJ5EwefH99gCppS-3y_zTXey1OQ7d4iB-0h7szFP_yDErneLAblcuaUHKbX-wrqxjH3TkRYxT_uRjg5DR3PFlVzuYonzCcEKxTxSntz-aoztGAZ_zZOvT9Lh1QuW9itaIc7lGrYtmZrrl-aljUEZv7W-xTQhL6x-bKigp0kqy1j2ds272p8VWuNMYxCtEHtWPL1b_5nf51CFOT7cHe0bc9WFErgRnsKriHnmwRz2x4w2_yEDrLmOkRd6BNj9umceTcYR2bZxmelyTCBGsevOIStVtgPKCReylGES4U1ehgrYrb9ms1EUx041moGgPMHaTWmO5rToNYOYJ69qGwclEcmx3_JSXyomGjVV4-bOa7iRMK6rZyMEOGY7fh9RPG-qTF4YoKnVD3FNg3mwi7eFd-cTDFRHSI53ipZ9bvWPtcnMFglUzWNZwWUp8dSlObmcGq5wfCS_kJga-cNYXtv9YjH6fnacapa4IZMCNhTYutpv9kelkgPEhIZ0lFoWVNSkyZpdNhcF9HW4ijMOz9FX5zWkfwe7dXGeu5cjpzxRJZrYLgQQ132UlCRyTqLc0chGwDo6RkpFppkRDw7Q86jBExyYN7825o3XMGXLy4V9NaQShQfivYs-BNeMpnH4VTxyW2r7q1-ishnPdEAptvXd1VFEMsThB7XNeOd12HsGDBr_bER6wjeZELOR27L3jUmpcHClfyS4u1YOHxSyNpu4rherry2VuuxoDZqedXJjnxFfC9rOKlWR6q_v9kl83lwO3eDUYx94EEyd8iL-pQvMohY0PzdnEIbwa6738sNJrur3t43UuWGGd0BwzmzpUmgMt3DVvd8OWT3h7d3nMV1cA--GhhWRr0FmDY_7hIHe5AusxtV8tCkuB36-lZO1u3aHzumCZx54jUw16foLGWduBFr7udhYnHIqXlDwbYrTzUJnhEDkZyrtPgXHnse3uc6YncTegeSlMaueFhqkb76nkve53SYgoF-2VhyY1tALylc1JA1zzQuKgowQr_5qRHWvfLtcMmf8RAXPX8pEkRYLhn3XziX4G-IbYZwy02w-HYBI0YlHko6QkgaSi5EZhdpH67D1Be97auOF1leGbTuaK7q7aBpBis6mFyPm_z4Jlz7fMl492SNWSJSQI3USRQqyD1uT4nzsVPuygqGO1JusZwUSfmJgn69aqjivrUfZazf7yOb0yqeaopiqasR5g_o16tvFp2gDD_gpz1jbJv-yS1WeEp33Hiv0RRr4Via4N7koTjrnA2D__75298Ym4OEqEB-P9RzaCIkoKSx7gLo2P3gdUVyv9FP56rFwqYq1bB3dlx2SXbhWR_UrHcHxbJ1Io-of5ry7by8ryYezd6Ixrsnb-BzDEkRuS3HP-_2HwJiXWsAE4cZwfzaAnzkYxpUE4hTd2EJiTF_UeF20FKzwLU4K7KKntdNBtgQMGCI9-Z2VG7n2wbbs3OqbBMfHE4qUgbfbuwudzsjWSxhVatDWnStUJ-HnJ-AMfRZfvb8i8n3B8YkABj5WJ3xnwvF-tGVCUTL4Q==",
  "id": "rs_07d29d1e2f1cf04f016ab4230c08ec87d0ac2b616ab6f5537f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.015,\"left_z\":0.2},\"note\":\"The nearer left object is a white plush, while the object in the left wrist camera is a tan dog-like plush to its right. My first approach passed to the right of the white plush, so I’m moving the left gripper back over it at a height that clears both toys.\"}",
  "call_id": "call_nIVI0aml0nhCfoc0JoJlgVwt",
  "id": "fc_07d29d1e2f1cf04f016ab423102f4887d0a27c75ac025890e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nIVI0aml0nhCfoc0JoJlgVwt",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0502, 0.9489, 0.7235, -0.4194, 0.0082, 0.0193, 0.9996, -0.02, 0.8024, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=0.018 left_z=0.1821 left_yaw=0.0156 left_pitch=-0.0825 left_roll=0.0251 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1787 right_yaw=-0.004 right_pitch=-0.0168 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -2.8923, 9.6615, 1.7656, 0.105, 0.1099, -0.0073, -0.1162, -1.1829, 7.0906, 1.7216, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627bc5ae39fa0d53048de00e37bf9385b167f77646da638e6b679139a5cb479f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c424da15fc863525748f3b10364af97307efdaf55a2309058f311d7d5742e973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7543acc0e7f97492af4b16e4b8e52a62751c3e9f089607e98208940e0e8cfc38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.926, 1.467, 0.8715, -0.2668, -0.7341, -0.6449, 0.9995, -0.0193, 0.8013, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3139 left_y=-0.2145 left_z=0.1342 left_yaw=-0.0071 left_pitch=-0.0367 left_roll=0.0308 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1792 right_yaw=-0.0032 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.3658, 9.0598, 1.4481, -0.5055, -0.0415, -0.0122, 0.0615, -1.4974, 7.2137, 1.7949, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0502, 0.9489, 0.7235, -0.4194, 0.0082, 0.0193, 0.9996, -0.02, 0.8024, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=0.018 left_z=0.1821 left_yaw=0.0156 left_pitch=-0.0825 left_roll=0.0251 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1787 right_yaw=-0.004 right_pitch=-0.0168 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -2.8923, 9.6615, 1.7656, 0.105, 0.1099, -0.0073, -0.1162, -1.1829, 7.0906, 1.7216, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627bc5ae39fa0d53048de00e37bf9385b167f77646da638e6b679139a5cb479f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c424da15fc863525748f3b10364af97307efdaf55a2309058f311d7d5742e973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7543acc0e7f97492af4b16e4b8e52a62751c3e9f089607e98208940e0e8cfc38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMafkm1_yn0PDlsYDx6P_543QhTLl6XQATip_IMRKoGb9tHPCVIbY9GzZKUdP6UBX7s_ZhVnTK909ZsTF3YQQX1z6vBPF6s0gXymy0f4L3ZP3rF4MAoU1eMaKIkT_a_7vGC12pgUiKRICBx6PRxWj6zH9jccPYycKY7LUM-Nb3nnaawcI6lIJbwr-LNI239C_dyUmRhh6C1PLP_A0RhPvbx3RmMyshf9_K4j2s4962OKxpuZLBIeQbuSg4v0RZONuMjsvRqgbuN7Xe3KkN2qN-B8f5axe9NoX1stYiSBkghWLv9vSbvXdtwRTFUN_FtTqljgwO4DslABLTVzcNcKXRNYWUv2C1xKqncIemG6U27YggXPFFmYc3J8F0S45tERlbwDiisr4LvqjSBy1nc2JBZRXcMEHiHtwhdOgpdP-MeOvVHzfmh3gMNc_hqJgMiLk2zvYNmU8odz0B9zYfdA5jEv7EawEfQ4ElQKewMt0l-IcXIwyVQ06g2CaNow5mpgto3eFZVOn8Vp2WMAvWM6c9Mj2jrH6vUJub9dQVXNBzh0IyVL8aTHeRw7KjwUPk1uI1ux4aDUiW9iiMdciEZNJBTk52cImZMlMdQjkufbqqh6IrdQWp-vcPMXZalhp5BFjfabHmEfxSmdEIPBnvYtWt257espJwMDr4c51my6Zb5bGbzn-UzGgIyCAkwKVZz0-g_1ujKXkP44v-s-I-G21oz-k0qIgDaAeLJDgEdjdX55ppGxoSSp0jqD3do0caJeoh5yjEIq_Y_-RQEl0jdlJ7NfhThYzDZ3CrD4CeKnDnqQAOtebz56x3ZIMIHn1w0AHGsWPDm90bQtRDSPhimHIKfspAwnGX3n8kXRggSS1VDeT-An_cm7dPL1G_33aXhB5jnRSDJBjYAkuKlL072-GdEjsW6GGVQ-PGbgUvnqV4iwoqUwN56sxrGRpNLC2xKqYkmLREcKf1an4f19pTw4OQPXHRYwaB_ZnTrZBkyZzd6B1q9hnzeZ0P8JPI6TKlxJpcw8lVz75aUBCwnFelknVycW2dlDkA9fB4sO3v74VNuRYfXfoktJjRu5J4kxpACQZNYROpoHW9Tb75866FSI2R0yg9RosLejqb8aH2p1eWwQskik4ZmDFq1aTkV6It-ogIwflAyG2qu1PyP-oGQKSp6dluzW34XsY_JVTydzQ67cOYoNuW0HFeTq880-KrOlkkcICZf_kGKXMHoqTwRHQt2QXSH92PHg6atbH2wFCyNDfND2kdYMJ1eZSIu8e1lVRc6nzN_g88NeXgml-RcMuBagYSMCayhpyiVDPJeCw6fJOMVkYT6EHZiap-t04yRQtKmgsqJPd8J851_y-Bnggc5I20o8db_1F9z69rhtZp8HAhXJreWCuxEGBLUHp8wkDtFpE1oEj27vvwhwF03WTeAjNSsrlvKAJZSqx7GvdaeuRJldexmnDFGCVXd_2WYElYNjQLCiRt_Sq7mtc1x5jUU9BRI2W4Y2guskZmSXqB4DbqNEANIxFC3napH4GPEttlvGc_1Nuht-9MJ1nmYTKALO99vNSGScoDRZihZ0HP5xMFfEl-bWiP79A6BFJ7cLfhvfEkTs3qYnvY5jliEaudbqfQ0iKWPnT5MtZGwf7IK92v_70GCmFQv5jJX8PAuc0E9mJnd0yZrcnEzoN2MfOsEY_GEAePgeyVpWTODFtP2PwnsJ3D_RQ_Lt1y2syiNK-W4sO_EYa1Q7BU2k5SdORRqKzREHgyNVgwFjUmD0lkeeehumF6Vb15qbe-OrygrZ76Oa-a9ph2BSPZsgEqAxAW_2yrEm6bOAk6C3kmspLVe2LGMVeVmsN2o7W_xJAXLJdR6OEpEtDC2p4g4JSWeUL43IyMcLhSC7PJQ6Jlr4yIkRkfnoN1yP_YhIbHELyzXrQxj3UYrOmO42BugiOOr9_turDBxUmAutuzyclSVd74awVyuh48khcjc9cIVTqdEdhUfN-44bY6XIpDTk2FoynCmEM1U_NqU737GNrN9uGUEOwmThnQkzF0DnyMSiCH8M4eS6wRNifCFkJS-cye_g1wc6wdE5XnskxXtisllAisW2ny8VSubCBk_JSm9tKHA9yKXiteeTau4JilmWzp0GT4VKjBtBE9hiTP6P7TMYLNrFzgDEn1emBer45Q4AZ_yTnFmnd2Ac-cECc1frBU4pq-4ywwFZW39jvdZlxjlrLzLl96KLem6-GVsVwCgWGBMFzgdaEkr308QA-SMX9OGZTG2lgbAf-hJSA7x8VfFOFnRsK58sBHMmksZr6blcZo5P21_2HzSRtA1_313yUgvZArfvF_SrRMcDhiqLflhhXio_irI5bEBS_aNGGbvf9k5XwkP2mncfuyFrjSSRhaBnNiYdK4U3PVDYEev7v_Cc8SRXaSzutWKooIRnNcXb4u_R3Yr9rE1NoRMJXs45aQUnVws3_Jk9NKrHQOwzcbiPecKHAjEEFBKiHEyahpZH4ioJ6oHqscy5Oo4cXdAjVvXwVCXFYMyU4MRANiThrzvc9KgCZs=",
  "id": "rs_07d29d1e2f1cf04f016ab42317219887d083466141cbe05f30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.018,\"left_z\":0.052},\"note\":\"The white plush now sits beneath the left gripper, with its head visible low in the wrist view; two tan plushes are grouped to the right. I’ll lower the open jaws around the white plush’s upper body.\"}",
  "call_id": "call_raE6ecmh4337IaPpGWwMIbMi",
  "id": "fc_07d29d1e2f1cf04f016ab42319c20487d0b0cf27fab04ebb30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_raE6ecmh4337IaPpGWwMIbMi",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2572, 0.3435, 0.2737, -0.0002, 0.0193, 0.9996, -0.02, 0.8043, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=0.02 left_z=0.0586 left_yaw=0.0216 left_pitch=-0.0777 left_roll=0.0303 left_gripper=0.9996 right_x=0.2954 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0042 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.5624, 4.6701, 1.3993, -0.0122, -0.0952, -0.0122, -0.0615, -1.1145, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fdbbad9791964a13d2fe52cbb412d31b4a8a4ce81d5b9e0bc9e59872a57efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cadfec7f24eff3426d2080a7ca22b2ca5af47fab7e6b271f807be23187c02495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bab5acd03ca895a8d59d92774673c8af31c352643dbd01ca3934b25a0f5c2f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3794, -0.0223, -0.033, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6205, 9.388, 1.7509, -0.0415, 0.1636, -0.0513, -0.7179, -1.6068, 10.0034, 1.7753, -0.1197, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0502, 0.9489, 0.7235, -0.4194, 0.0082, 0.0193, 0.9996, -0.02, 0.8024, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=0.018 left_z=0.1821 left_yaw=0.0156 left_pitch=-0.0825 left_roll=0.0251 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1787 right_yaw=-0.004 right_pitch=-0.0168 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -2.8923, 9.6615, 1.7656, 0.105, 0.1099, -0.0073, -0.1162, -1.1829, 7.0906, 1.7216, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2572, 0.3435, 0.2737, -0.0002, 0.0193, 0.9996, -0.02, 0.8043, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=0.02 left_z=0.0586 left_yaw=0.0216 left_pitch=-0.0777 left_roll=0.0303 left_gripper=0.9996 right_x=0.2954 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0042 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.5624, 4.6701, 1.3993, -0.0122, -0.0952, -0.0122, -0.0615, -1.1145, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fdbbad9791964a13d2fe52cbb412d31b4a8a4ce81d5b9e0bc9e59872a57efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cadfec7f24eff3426d2080a7ca22b2ca5af47fab7e6b271f807be23187c02495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bab5acd03ca895a8d59d92774673c8af31c352643dbd01ca3934b25a0f5c2f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMi8-NeiBsiptisDUJ2LbC7SiKHfpvWAL_FCGY3rdS-DfOb5OHD1idiNZXjESEfxAnepmpLqGBqJPwsOIxMqXs046TmRmXynk347PUlpRPV-pRyyscDISL9yJvL3kTgTInRMd9VhZGBfu82bmttjfqj4TmnyjS9jaT36X_enCjL3EBq-5LEmroYtoDaGs_2VOJgaZDzCGlBBD_VY2tf80XDBieTBL0ZuGQtGelxSaK3rRoHC41Yez8vW51DbtlqqmQVfrUoJb1f_cmmhrVi_JUwIGdAV_mxPSC9YlxJR7h5iZ4vaC2knhfkENb0cXwrNXtefErOLznJP-iasST6Nm9p5o_G-tNXhyFcp1hCEkr-7kGmE-bV8ZPBGmWhxKbO1qml5uACM3BO1mfmDvBKSSFmKbWquoJb89q1AvwoBRepgrKaHK65M__2OtnklvlcJn1NkIOm5EazLzVWQ-BX_Hh8i6_DuB46Hqo55xdr4mJRd6vd1KAnGtBW8it3MB0dgfN_lCSEv1RrsJJkuOKI3A6GCPdzXc34S_UBv9wJu_qyLpC6JF0OQVUyeChA1WRPyzNBVRrTrtgyMvWQC-dShJtKkDHtkDsT7hDFFGWMy-dPqTL_6-yROW1D-jFyFa87kI9qy_QbcxrZtWG3F1LygOnVp3_opiYPSbjQv172eRQkFZi_lrcnudkAoP4icVUBeHg3t1gWHbUzxl0mYxTIbn5f-WTI62Tk8Yxs9ZLqeaKDQSorfX7a8TIQFvNgQlYkoEzl8jkeeK_HZSNMDjiln78ITg9kOwo5uQ93ZSIdiz8ikk6hmS1FIvDmJKfq-jWWYb2GoP6tvcEbf9VE_SUZCqy7Uc6zLGutid_8lFxpct4RhMlnV5DXNf3H__2fn2MqHm4PyZAQydJGLrsxCAcoU_X5aYj-WY-TdrtL_1ovO9dUyozZPUsAeliDvb6oulcDdag_FI4Usd1SEQkhUb2-OlKXT3u5rVFp5nvJ3Auqjl9AI4OgawPpY6SMkDX0paWtq90UJWYyaOCx0xqR3nJ5jV-3vwVZKBGcphf6_dpm-uuW04Oz1d3NvFCYcdBIZAUqBJpaSOshgr7U1gKmuTA_CAgsvhtfhpw799gOs_tf8QUV0bMDOe4HJX_UvrsSvshuY7klWB_4jshcxYlbwzVR5_7prPH5UpbMIOvBNBycb7Py7d4LkdwdqMtefHk3ANr80bPEw3PVcvIrKBlL0nXn37Jb9vCvEsIlaEwp8kH8rDP1lRNDQ05j3trnlCHIJ7_mv8u5uPUtjZ2UkKVfZ2kTJ_FBsw==",
  "id": "rs_07d29d1e2f1cf04f016ab4232180f087d0b435339f5c7ebafe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left wrist view shows the white plush centered between the lowered jaws. I’ll close the gripper and check whether it holds the plush before moving toward the left basket.\"}",
  "call_id": "call_RExNFdwQUcrzzU37sV9Hz3oi",
  "id": "fc_07d29d1e2f1cf04f016ab42321bed487d0bc3f369433712ff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RExNFdwQUcrzzU37sV9Hz3oi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2621, 0.3347, 0.308, -0.0101, 0.0151, 0.0326, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0218 left_z=0.0605 left_yaw=0.0323 left_pitch=-0.0572 left_roll=0.0332 left_gripper=0.0326 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.0042 right_pitch=-0.0195 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.1504, 6.6256, 1.3211, 0.0611, -0.0317, 1.033, -0.1846, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03daaa43674f1d463994fa7ef948311572d767e8a42f17d5b1001bab15c18d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e2dfd608d618f6af4371ea4a400bc0b60ce74adb9619f263869da5dfe88cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958299a20c6eb6c42401777712781a96562323a99b475add80fcf25a34c31eec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.926, 1.467, 0.8715, -0.2668, -0.7341, -0.6449, 0.9995, -0.0193, 0.8013, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3139 left_y=-0.2145 left_z=0.1342 left_yaw=-0.0071 left_pitch=-0.0367 left_roll=0.0308 left_gripper=0.9995 right_x=0.2952 right_y=0.0 right_z=0.1792 right_yaw=-0.0032 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.3658, 9.0598, 1.4481, -0.5055, -0.0415, -0.0122, 0.0615, -1.4974, 7.2137, 1.7949, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2572, 0.3435, 0.2737, -0.0002, 0.0193, 0.9996, -0.02, 0.8043, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=0.02 left_z=0.0586 left_yaw=0.0216 left_pitch=-0.0777 left_roll=0.0303 left_gripper=0.9996 right_x=0.2954 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0042 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.5624, 4.6701, 1.3993, -0.0122, -0.0952, -0.0122, -0.0615, -1.1145, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2621, 0.3347, 0.308, -0.0101, 0.0151, 0.0326, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0218 left_z=0.0605 left_yaw=0.0323 left_pitch=-0.0572 left_roll=0.0332 left_gripper=0.0326 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.0042 right_pitch=-0.0195 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.1504, 6.6256, 1.3211, 0.0611, -0.0317, 1.033, -0.1846, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03daaa43674f1d463994fa7ef948311572d767e8a42f17d5b1001bab15c18d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e2dfd608d618f6af4371ea4a400bc0b60ce74adb9619f263869da5dfe88cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958299a20c6eb6c42401777712781a96562323a99b475add80fcf25a34c31eec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMzzw91vpC05i8On71Lgmv8Vdp4ET4PzEe7xbC3u2hc6GKx5z25VG6N4Pi8PYNs2rmCT-Yk7Y6yl5hj4XsR5uFvzODYlW1hnD_RXFSodS5XXuJK8bZaRI6IJK8Teq3UucVvTWrKpbLc-B__-8N372XQLDplMwhxNY5loKZMTEDx--81hAUNNYx3YZtysZzYn9bRtFR-HSad9J3Pl4RiKh8AcnZ2kDSsUppYOb4ZYBnZZw-nFkLTG-6qN6GEaEMBqe0NshRlfO7h8QlanRhRv4pNBYogTXU4Qyg8XcgW2czUxWzOikkmeh0nd8IhHqiba750VAEQvTiuYWb3TPI2OzwtEarmEjnM17LWJohCGVXCrqHWmdr_48VH19i-_d8p-66PjE9duz1pNeuwHJP1ItUD805TsC507MaEN6KuB_zpecLc-6iB1c9iuBL1sCR6eKCyRaBzg2uoPO77_OLriQIsRsS_b2hjV_SH5eQ7OcJmsq0g-I_eHZufAspHO-UyDXZtPPCcCyY5qTn7T8piN1OnTpBFxQXLRLPcl5wfJ45nNOoNHFSc48YAa8RTAf3rlsiToN1tOFfYtmRsNVgwXRJ-fUB3ENI2nBW0jDW9gtpDTYY_iJT4qRF2nnOE1SW852vfcrrHxnu5hakHPQCSNug5ogJPS8epgilBipSJlMoDvG-LVk1fVuVqcuhRVg8zPmzyKgJuKg2Poeu-BdUITpUOPHxlg34Bdov70VWtH7QXV8jjsdCKaz5iO2S8oP5ohTjzQRvu_hIgKT_jsf3h8kLHXKC1YqsPsx7AUve9dAZgTiv0QoKwjp1qfyEFAszr0zglakk_AGDq-vMgiXX9rUN6-OFPn1crfqQ1gn2fMdDV-k_8zBaJypi9AoLgAm_c6EeFvaevOVRvJeAcD-2RSGw6wwcV4PDUyuNmEJ_pMHQxpUm2PZTjLCs9w6yYe87kgMdi1AB8gWnxVMwEWlvmA1aBiXYuPBmZiPBCXzQ-WWnhnTa4SfUff2w9l7t5SnlepzwD_7r0IHfKB4guhFn2oB8DVcdDUbErla08RYhK1JVY9FLrPfuvtOzghTASg9jW5Wl6ZDbTQtH-ScdKrnXcuEidZ0nA51ORe4U3wtoMyms-xXPccrJjHKNT8iP16yy3RGYYgyookeiNCwEUWGKFUd4Qv23EbFgCGY7nxUrFNG9FrkP7ydNxMNFARoJ0vRbKpn7tZ2MTDNrXdh9woKMlUjnV8HBhr1ZH0g6iS-_ELjZkkOzeQcs-UjYcUJ0y25yvIyD7QoC0ul1yHxYhbdVgbRJ5_fjNJz9qbkkJhZHClm7tU9ZaZGAwoe_Wsx2mXXYSkbw_vZ1eh-fOcgKL-a4pcTYJ3YTkWdycumA6Cbb_vXmE8gjj5wilRM2q_YDtaeAjpojSPKTYz_QCUEnddoPdYbjxnWSIDXgCU9IrikNXUciKQrgY62Gn-bjBDuZaLPqKRy31b0xPnkQutU66nx7L4YIIdmznwPiAHr-PBPhL9U1R2pN8bC7RySV1MrTolTbEOj3SZdBFniHOOTpZ9s4ADzYX1siEkP61VolNnwNvwRqsQBDDYU76Ja_0yQDaLXWjHphof7I6vD2W5_1zFZltVUfUZUIlSu03N_wyTl-OoCK0a_OnW-v68YlzDh3zkG3pQod_cbuAAVTQyrcEvhEr8Z5FnigytnBYGXKCMARXc8Z4GGO6DCpZbW1vnoZkb-5lLwH0rXNw1kgq1-66uOZgqyfsxk5zKPPe_VxGDbgqSG-oQYRaaG-zv4S79WWzlFiNblL4NxwX70T1Waqv65B6s9Y69g==",
  "id": "rs_07d29d1e2f1cf04f016ab4232e165087d09e27df6e02b8e759",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":0.048,\"left_gripper\":1},\"note\":\"The gripper closed almost completely (0.033), so that was an empty grasp; the white plush remains beside the jaws. I’ll reopen and shift a few centimetres forward and toward the plush for one carefully aligned retry.\"}",
  "call_id": "call_fQn5Ppe6KVpFk4lfp1f2CdgZ",
  "id": "fc_07d29d1e2f1cf04f016ab4233145ac87d08ecd2ad526cd3aa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fQn5Ppe6KVpFk4lfp1f2CdgZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1589, 1.3621, 0.3946, 0.3588, 0.0685, 0.0723, 0.9953, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3528 left_y=0.0479 left_z=0.0619 left_yaw=0.0451 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.9953 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.004 right_pitch=-0.0195 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.1385, 7.2957, 1.5946, 0.149, 0.0806, -0.1343, -0.0889, -1.3333, 7.0359, 1.6874, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43593694dd863db6a9a611dad97f72e87eba88a09f279e6f35d4b29a9e9dfbd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c5141825823958664d4016048024890a8a75b1df769355d96664f2d28d9ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d1dbb94f31f08a0186737e0eed5ec5bbe42a23d78ac2e91f90de2e5cf7bfde",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0502, 0.9489, 0.7235, -0.4194, 0.0082, 0.0193, 0.9996, -0.02, 0.8024, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=0.018 left_z=0.1821 left_yaw=0.0156 left_pitch=-0.0825 left_roll=0.0251 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1787 right_yaw=-0.004 right_pitch=-0.0168 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -2.8923, 9.6615, 1.7656, 0.105, 0.1099, -0.0073, -0.1162, -1.1829, 7.0906, 1.7216, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2621, 0.3347, 0.308, -0.0101, 0.0151, 0.0326, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0218 left_z=0.0605 left_yaw=0.0323 left_pitch=-0.0572 left_roll=0.0332 left_gripper=0.0326 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.0042 right_pitch=-0.0195 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.1504, 6.6256, 1.3211, 0.0611, -0.0317, 1.033, -0.1846, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1589, 1.3621, 0.3946, 0.3588, 0.0685, 0.0723, 0.9953, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3528 left_y=0.0479 left_z=0.0619 left_yaw=0.0451 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.9953 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.004 right_pitch=-0.0195 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.1385, 7.2957, 1.5946, 0.149, 0.0806, -0.1343, -0.0889, -1.3333, 7.0359, 1.6874, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43593694dd863db6a9a611dad97f72e87eba88a09f279e6f35d4b29a9e9dfbd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c5141825823958664d4016048024890a8a75b1df769355d96664f2d28d9ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d1dbb94f31f08a0186737e0eed5ec5bbe42a23d78ac2e91f90de2e5cf7bfde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCM3nfvJzuoD_JrZp6ti9SDmWPoAYuxAfM-shK_nc4-kgBiho-ojtEbcvZ83tSeW-V1XlF-TVQnpLtd-ooEUuXPv6LDoKCYm5CD1AEVMR8eOLIttI7VYMXcgyzYIiaOlyz77azptPIk8dVjKUxJWSPFry0SLywN7ymZIBmr0KAdMjF-w5AdHpmZFG9gpoQv3PHwScYAGTXXHTbcnT6yIebMUY8OVy3sM-0hRHBVE81_InbAxgLRQf1c_zLFEg4TPaqZX3WxZoNRz9grJUCs_wCcoZRxKtQ0XcGNk2zP4Z_H-LmwGBwizzAqFQWG510Eh_AqzAf8RB9pALcWxuKt3xaK-ADJ-48wFmGYcUteeKGA7R2JVnKaV9n1jFEL3GZzaSo4CsbI7bRFWLaqhHI56dLv43t4Ivztey3j-tkDPeN411sphRtsK1RFh0PASiiHss1kTy_D_IB2CX3rnyJhpVoAULKUzokaKtcJhH6TTXxegYGXrDCtrGrXl5jVreSqIy6NiQzIToDiTwz2EF9l7wCv4effCAKvT8NC6un7C40E_UkbFEZXyOpKe4tI6xS1ocRsKrsF1exNYaPiUrk6TiEui_uOqT7lBPh0J_AVgaajnEPSBcIKib9GdahXHM1JVS92Yt87bG-2sNWggwE51KlO6cWNgMvVH-zHx1lKRDn8Br2ZtEu-MLHE0XqDPbmQ6FLda2xNJozfMDwaW329on9o6Pdwjqx93lTBmyKBA1tlEaqbaYQHM6pjaZBJzaNSSTt3PBI6ltUQNxbE-Ecjz2ZMKr8C-5Wg9JNuM_wFsG4pA2F90tVcCy_CVOue85NsDl404xVp_sjgjkEJVUPIfFSnwac8feofjuTw7io61Vyxm0NYxWxD_I5MTkFzWynPN71gl1Ghw5k0WjAQMMlunS7MY8Oav3nIcYGOtK8UldQyY76GSKOxaaDGJ7l-P8eGkZs9tAbWyOZhZ3Z70coutfHpoLpGdmZp_Xk0Bh-2RhW4yT7DzFmAwZbnvW73V07oLljmQoC63z5enJrbmulaZqDYbTl0714smjiP9BXDI9PYalk_X9VtATULFTERU0aWXlfm720k3mbSAgw53IdMt1_H4FnPuJpS7r9GahFnld7zDWh-z8j7vMLcgldbttzn9M1H4gtscD42B18s7EFPKV273iALkzsy1PF_GUp7sSub_o_V4HLtrWL-QC0WaBWtast67zMPyChDbQnwUqnh3fXRs1uTbI8t_eZdIySJxf-_AZymzGnbNwev5XuvJ4IM4Ky0srGRdz2Lwod5GRvwhqmNA-i7lFKkHALYMT1Xwsr5ldTFNV6OHivOSUnMhvxdBInibwrC5skFPw2F8BAdHTApZ15dgNJJbH7I-eDt-b0qR6gIE0hs8LZrlFXR9f-hjlYt0TV9o23K4X9dbgUs7tFRIyqqTf5FLkmNqRoV6Gp9_gZY=",
  "id": "rs_07d29d1e2f1cf04f016ab42335d62087d0abfe79acb4d46214",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the small adjustment, the white plush fills the space between the left jaws in the wrist view. I’ll close once more and judge the grasp from the settled jaw opening.\"}",
  "call_id": "call_Gqq533pPg37iaJ56buIdY0al",
  "id": "fc_07d29d1e2f1cf04f016ab42336dc6887d091aa06a88ec64699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gqq533pPg37iaJ56buIdY0al",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1608, 1.367, 0.3973, 0.3653, 0.0563, 0.0704, 0.0336, -0.02, 0.8051, 0.6086, -0.3847, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3539 left_y=0.051 left_z=0.0625 left_yaw=0.0584 left_pitch=-0.0415 left_roll=0.0413 left_gripper=0.0336 right_x=0.2954 right_y=-0.0003 right_z=0.1781 right_yaw=-0.0043 right_pitch=-0.0191 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.8889, 5.5179, 1.663, 0.1294, -0.0024, 0.9597, -0.0615, -1.306, 7.0359, 1.7411, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a46e74347bd95a5dc0091b3d466cc4b74030977ca97e6df12d25c86f22f5b67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fe0578df3aee787adbcd2131df9826ebc9a4b078072ee7e2a004dea76ea951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:badbb084418c2476de90dd982d038f10138986226d9b92eba77bb712cddedd97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2572, 0.3435, 0.2737, -0.0002, 0.0193, 0.9996, -0.02, 0.8043, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=0.02 left_z=0.0586 left_yaw=0.0216 left_pitch=-0.0777 left_roll=0.0303 left_gripper=0.9996 right_x=0.2954 right_y=-0.0002 right_z=0.1783 right_yaw=-0.0042 right_pitch=-0.0183 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.5624, 4.6701, 1.3993, -0.0122, -0.0952, -0.0122, -0.0615, -1.1145, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1589, 1.3621, 0.3946, 0.3588, 0.0685, 0.0723, 0.9953, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3528 left_y=0.0479 left_z=0.0619 left_yaw=0.0451 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.9953 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.004 right_pitch=-0.0195 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.1385, 7.2957, 1.5946, 0.149, 0.0806, -0.1343, -0.0889, -1.3333, 7.0359, 1.6874, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1608, 1.367, 0.3973, 0.3653, 0.0563, 0.0704, 0.0336, -0.02, 0.8051, 0.6086, -0.3847, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3539 left_y=0.051 left_z=0.0625 left_yaw=0.0584 left_pitch=-0.0415 left_roll=0.0413 left_gripper=0.0336 right_x=0.2954 right_y=-0.0003 right_z=0.1781 right_yaw=-0.0043 right_pitch=-0.0191 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.8889, 5.5179, 1.663, 0.1294, -0.0024, 0.9597, -0.0615, -1.306, 7.0359, 1.7411, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a46e74347bd95a5dc0091b3d466cc4b74030977ca97e6df12d25c86f22f5b67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fe0578df3aee787adbcd2131df9826ebc9a4b078072ee7e2a004dea76ea951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:badbb084418c2476de90dd982d038f10138986226d9b92eba77bb712cddedd97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCM-gl0YrcLsz85A6TBVSn9ArifAFJQNamkjB6w-HsFuuNzew0CYqzFMTMi0QgVvZEiMzdb0vXJTG9TntPmS-6eksstJLsElcUF9TjUEOgomHDejOXfAuTTJZ_tIo6Sh7coVl8qHAVJRC7dWf9PxAz8bKMWXKwIvdno_SnoPGj_Gr545yE6XiJZH7I000x4kGo-7YQre6oMTv5mkohAXgH_3pG2LcPPU5BC7RSXHRq_CJuKzhV2A4IesAn2Tq-MRCbEdh0SBoaRT4_fK5I8a1zr_Cnt6KW2dIBA0gyGCBsk8AcURK4ppUIswLVlsr9CCDbCAHJ0shUIaFa1E9ElV4bKLdFA94bDoW85_jnTyIaYj0GLH6jHOj-5R0xyWsq7fos3yGnenJJDxR0-3s8dTnY1x4tQ_N-npzi9EbGtqapciioZAP3-lsfAMfjTdy7zjBEwEGTiKwBOCj7ly-mQO7W-zi7aUhcEeK8hTwQB56KWwmJsZbn47O2RYuEvVnyki8UDAW_F33LvXaJJO1sFe-GIXmEy7xPmc_F2UXdn4gCtxedNOQBU2MrSU4MRkNpkLGsYwvuO_QqwwYOax78Mkg28k9G7KIySsGL6ij8OlzjNBh9Fk45ONMZS426t7-vy1FLdV1aVNshbceiW7RL06co2ahmbtSlWbIl-uEWrZod-0ou3xns4ry1YLmNuo85H_8MftEswtM542EqpAujM8HS-5Zu7rlyXq4caYx3ef1MsHUvgFEljFle3pOswK3by5nOkjxHesc7sK9XsYRKj2x6toK8ArjGvnn4qZdaCP2ceQi2v9fPFuXzaFawcurCYw8RTk6eLkn57erldDlLkHxvyrFuHUn5KH0LYyAaCeSxxpcxxbdbn3WCjPbAV_3xtViLGqenGv1OdVsBPerlC84PtPAVcDZS6DNdjcheBpDHnL34tPGkrDHBfw9wTFbCiWiq_Vj6XJnVzBjYECFUA0tbDKc5fmwsRnWKrjsMf95ZSlFbP5--94DsLQW-zmVV67asI-mrvU9QJoz5G7QbJWeaR-aYX0CT6_QMzsXePj-3-TJYdpNL48GOW9JkgUhXUhED5T7JuOI3wMAOIDj3s_D0CQL6FQ4fCNxOSAqidJYMdMNym18QFn35mT5pEZfmJ8U0dH_EtJoB_IPZ1khlTIkDt_okc0JHZPA8rIqH9CDg65egf7167JFivYjWXZhJ95ITVyro2WzBxrTpXL-a9cUGLKe-J0G57KXQrChVFWb_f2zC7vaLLW5GkuDWi80FZ_TNvhaE5Iv9Pxw-xUrwAwxQTelIIAkHHjcwzgMhAXqciKosnaIJpRy8WrZtHAuL5Yw4YHep3f0wtkHJUPa4x2tHpZnXBVWcnJFTo0JZdyt3jyJTdpZCiUXW5G6ARKtNSwRmCXdJ86ikBPpSpGZpYoQf4Z_3cpFnOhxD40gSnHZKv4kGze5pCUB_qLTm732kJVYr44NWTMN9ewRsi8Q6pa-6YJiO912whbi5dgz9RjXNTeNQ96rp5XTzjx67k-aKmUzHjMCCmvcUgNtjXQq_G4VW_eJzpk3ehah22JNHY9dUtuCuox6OKJxuYo_ddF-521NXedQ7rErjfZX2cMpATcd-MaQFRef-cCMEo_7LRhmfe4bHO2nSAUkRgIfVB7z6K37Naa_ajbrmPzhw4QVlDn_A_H2LU6LzOgRvRZJjdmADHmnz0Dmssrx5n6YFbql0oUYh65vKTos1R2CNI0f0EVenwwcoQj9bpumLKLA0neczsMpfl4bhMSrY7RZhgEoCOWUMVGuA5A0FxFHr-RxT8gk_6n-ktrPjyNLVNgLejFL51-F-qeYrV3lQmsefi37zrxqAVgwQMd_-ipm1VNMeM9Ttg_hPnM5SohRFQp4lgipoJ4cL6WUiiu_a_wdJHoCz-putxJH2vBiwHEour1w-W_uwCuSLWkTvPqBx50vwJ9fSMj0CwOe1yztU21dGrfuu4qI_Uqvf3l5ivTPvHrCSbi96MLapG-p0aQGe5NK7P1qhhwE099eygZE0fECJt18YGuZyhU6eXW02V6TaCnbxBgEUckFhFM_18W3A8fuzHwORJyupYRxLd8vN6wnNGpD6UQkWP1-x_DgE1iLE68z7eQLzksqi_7XMzotRZxlVCVjsC8YQGdSjEZFa2trqZaqa_0hmVT4SOuF5jscRgTmewd-zTReu5O92mvE0slRYfViPasGO_pjalJF2tDRUm4ToAIEXallGwgixaeGWE2avUSK3IWxLCJcZ7-HdTJNTR07o-LZkmCKdw6mmzamKQUnpvU22O9kfb3-xgfQilPRdqXQL-Mz55dZTZhlpXFP5VPM2NGFpqq8yyENoMVbr9F3U03SJxrr7_oCWBGCjpHn7f0il9xEjRnoCh_6amymWlYYYHPWPlJ0eHRrDIE7-UTTyJMw2fL42GtudNC8Md7jtu9_hF080ho0dbVNWKA0HYfQZ0EMnlyfrFxWVDuSQ7Tp0NFRSBZWK4QXHkdf1TZ86Pq4Y90LWMqtE5SWjph6GmPMhUJMsIRdwbCmY9wFcUTxc-V2JvBs3ySoR06dC6TIBNu7UYlzrMRKbDpmPGeyaNMhCUL0QkEQU46RPCxLXBtLx4gfunnJulo-OULyt9fYIYoG80No-CRrnhnAxbu8KK-bLpF_o0ynLjial1mPqBDhNDx6WNpoRf4qVAubpofZX2994Gnc-RIRCmpGquiXA1UuTs7rn2W0SPdOrX-rk6uBPILRAhfEmnsfoOSqVGwtyjHh-QaIZQ43Hzg3MR90_uGT2jOU7ZReKZlsaSkzw5imv3wso3e6Wmm54s2gixj6-MpkTSMR-jw9E9LXx_vqVcwcNpwCceMBEnALLOYs2l_PeND_k_0akq7idRq5wTgoQ3-KCaEAodFsAHqAlZbWEQi2CvnQDgT5EuDT5t9VYLvgQs0XTCn7Mu82SbzO7dy8SSSFH2ak9Cy7IRNVhDwEpCMr-e-szxb2IcO_8iElj9YVl6zl0fdHecpOdOfih_BDfL4tHj5qHoOdetsrIk24DM3T3HJ2j9jQ7Iq1ahR-CpXeRnTUoicVwdZhsmxvt7Bbu6iWUjCm8o6IPVssIlkrEKTgGZP5XfIMlZKC2h3u0zKxyTsTldvUS9VM9F7am78aYB8Ykksr-c3gdIacSYsvf74xoxtSOqXzX3McL3qLbP9V7Bi1SmousB86XFKISkhI3_4WQIMr3Z76ujF4DeJcSkn0CjCdxGIIRk246_HIHNzZzC1-wTIPur1fWAoIHOdGu0UHpKYFN-cQQA62i4zwAbrf1wFeCX6Ge8YWN_j8A96JEa83m7DcZW4W4p8sNjHUPkK1Z9uKSd4sPZdVo9lrTC9xfOT39NFzJcBX-43WHi7Lf3L5Csl-hs0c4R38B8BTdd3aXnOYzk6dw5SoeV1ytbH67iUrs6tuRHVR2faA9ZUUQLb0ywOFlXbFc6sKazE3SpL-ujDMtA7Fcxz3wYup00Y2Wu5gkeNoAQWq_pbOMSJgNKUc7boFjw06gWk37cTVx4UgZxBQH9aRGqG5GKkrgk__lZK9Ew-CsG1ZCYKCGokUbEtfOWMtjTFz9QO_Ap_BP-Yio5guO-d20w3n94yakYTa7NrRgaGhmnqLfAZj7iwNxw1HTS0KmP7tELM3CFeA0ScenoG5xFk6b7PkNdufyZbIKYQJwrLhH2oefHQi1NtMa_WP0sOpFT0bsR8AtI8v4Umth6RQMlFuzemoMWr8rC-cfFWh_o=",
  "id": "rs_07d29d1e2f1cf04f016ab42339443487d0beef4cb7dc0c2db4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.372,\"left_y\":0.04,\"left_z\":0.008,\"left_gripper\":1},\"note\":\"The second close was also empty, so height may be the problem: the plush is still visible below the left jaws. I’ll make a lower, slightly farther-forward approach rather than repeating the same grasp position.\"}",
  "call_id": "call_LFLeuqZWjQ1kdnru6hfJrLL3",
  "id": "fc_07d29d1e2f1cf04f016ab4233db34487d0892a0bec6cf7eb7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LFLeuqZWjQ1kdnru6hfJrLL3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.6642, 0.3908, 0.8291, -0.0048, 0.0559, 0.9948, -0.02, 0.8097, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=0.0444 left_z=0.0523 left_yaw=0.0577 left_pitch=0.1165 left_roll=0.0709 left_gripper=0.9948 right_x=0.2956 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8923, 3.3436, 0.486, 0.1001, -0.2564, 0.0806, 0.0342, -1.4701, 7.0632, 1.7314, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9135fe001ee0556696dc83be40d1b55d8e49f70109d3a5972946285ef7b7b2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c72484712d3f62586b1c402df9c9054314e98d23603d4c6acaa943ac1b8c7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baee0c0139d7f67e57ef85449e7304cfe4a705b85a197acdd25a616477cd8abe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.049, 1.2621, 0.3347, 0.308, -0.0101, 0.0151, 0.0326, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0218 left_z=0.0605 left_yaw=0.0323 left_pitch=-0.0572 left_roll=0.0332 left_gripper=0.0326 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.0042 right_pitch=-0.0195 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.1504, 6.6256, 1.3211, 0.0611, -0.0317, 1.033, -0.1846, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1608, 1.367, 0.3973, 0.3653, 0.0563, 0.0704, 0.0336, -0.02, 0.8051, 0.6086, -0.3847, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3539 left_y=0.051 left_z=0.0625 left_yaw=0.0584 left_pitch=-0.0415 left_roll=0.0413 left_gripper=0.0336 right_x=0.2954 right_y=-0.0003 right_z=0.1781 right_yaw=-0.0043 right_pitch=-0.0191 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.8889, 5.5179, 1.663, 0.1294, -0.0024, 0.9597, -0.0615, -1.306, 7.0359, 1.7411, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.6642, 0.3908, 0.8291, -0.0048, 0.0559, 0.9948, -0.02, 0.8097, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=0.0444 left_z=0.0523 left_yaw=0.0577 left_pitch=0.1165 left_roll=0.0709 left_gripper=0.9948 right_x=0.2956 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8923, 3.3436, 0.486, 0.1001, -0.2564, 0.0806, 0.0342, -1.4701, 7.0632, 1.7314, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9135fe001ee0556696dc83be40d1b55d8e49f70109d3a5972946285ef7b7b2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c72484712d3f62586b1c402df9c9054314e98d23603d4c6acaa943ac1b8c7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baee0c0139d7f67e57ef85449e7304cfe4a705b85a197acdd25a616477cd8abe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNFZYn4w0Ss2j3kjT6tfRm07haR5Ae1AQdrYDXuu1Wtlbh7_LlJUGCYRY6RI_BWYTJkMbDI22eYphkkGmfBwvGP-aoNfIYQsMw0R01LhR8na_mbPNscCGs0bucevUASP0iA4xVFK3zOaZTAQcwWFFGRUu5tsKwdPJ4NiJIPrHrpQuJCuSFgtAEPWInC59iwVsZ7OOJhgleLXV5p7nS9peJVXU6lg6P0wF0ZOb7qmSHATx4u9RK0wBfdTo9DIZaesZWEdFhbpLuQbveury02mkyWdPIuCs9BoN6aDxGtO0MYTAArj2X9tvNEaJOnmo1VsJNmD4-_bufAQQHgTKfRq1ckYPnP8oC_YvAMpAMBmLCLOkn3w4MhES1d83XBNcRpRa42BsK34LSY_0SZHGNSQpxEmdaiY11_4D1NcShY66uwHPGBM-lioEVyX8XycxYR0saENdJCb2-6W7wnTmcFpFqAGn_8UQLjdfYpae6Npr1vD0WTwDjn_hZourBdNsvB3rA7949xaSNlYlJr9s5nT0xp0lhZUqy5V7FXn59KAhraYlS--JvjUXtz_LgVB_S1oA6kMqty7gkHBmTSdYKbcbgBdcK6RvTjW2O1016Zg177m0ju797bMCmsf6KzJNIzIVj9n-s8taByA7c60zgVI7ueyeCdEp-ylV6md5MaFSTsZbWblFXkuI-gt-G-Lif_9sBIbVAvZRbFCP3mLvMsKe7tzw9D5Nitk0SX62YYDN4Wj4TMUvhGGM8RNCYOGZTEPaXQ_ZLhu-b0jY0Nw5asckhFLzyudPlWDJmWgOftwcydPPxuSDkfDr5vUceFiYoO5Cjgz4eviE8fVGUoPfnLdLG23QdQ-fr0dU1a7arpwmeT3YToPsbnUS94akVS89dlRXl1h6qJSdedHNy7jgZiymJJwRqd5UbGKgwWFBLKZ5wMPWac9qZqdrkfXAptzntIDzKD0KXOMa7k-zYfxohOx_vY1wdca9cCde5XGO7ZrQK2lxBuEkl7TjawR3TEkVyBJHlhoYuUUNnhm4f42O8JlaH2K2k_O6qA6LGt8Vfr89Hd1YsSybBsjn-I5aqUuAioVTUnanJK6XVQ2fRfkmZubUpEKzRlGrWZ7AbIYqAONOY4w1UMsO6MVI9Z0DZ0YkCvAXMJdooX8zeqQOOYRX4txTxEPbr_guafvGVZDGuDfQEyp7w3m6N1Co_v79SJwDKIIr_CO9Fyff9GG93GbxzstrRzPBr5mhgO-kX-RNY1ttEfTZQ8rELhkdGOAn_0GAnio1j3d1nlxcGWxqpgUtjoBkqRGpmhbm63snsJgZtR3Zd0LOCHHTpd9qhwm0nUNCB4BmVCXw5EdN_kcIxw7RZC4oGiRCGNjf1bs9mOYFBmYx4CpHBOXfGydL7RZqa7b-RfNudQhvLcRpYVunmf0AfD82VsvhNYPJDaPDbQrtw9M4zg64Q=",
  "id": "rs_07d29d1e2f1cf04f016ab42344124087d0a43a22a27aa40ff9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lower approach stopped at about 5 cm instead of reaching the table, consistent with the jaws contacting the plush. Its white body is now squarely between the open jaws, so I’ll close and check the resulting opening.\"}",
  "call_id": "call_zjs9W0AYtpHUlGseMs94jgCw",
  "id": "fc_07d29d1e2f1cf04f016ab42344820c87d0822ca8a10a198506",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zjs9W0AYtpHUlGseMs94jgCw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.102, 1.6501, 0.4007, 0.8436, -0.0257, 0.0528, 0.0366, -0.02, 0.8101, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3992 left_y=0.0491 left_z=0.0645 left_yaw=0.0782 left_pitch=0.1549 left_roll=0.0781 left_gripper=0.0366 right_x=0.2957 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9026, 3.9726, 1.7216, 0.2173, 0.0757, 1.2088, -0.0479, -1.2786, 7.2547, 1.7216, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d31037e9aae52d52ab541e06cc775dd28b58ffa73f76668db667376ca8da1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcfe80813f6a49231d459c0646f3793154649a4ddd1c4b722c3524c0716c64fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a304bcb954dd34e7910ab3f34542d26f5eedeb64a4443c5183b230df669b5825",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1589, 1.3621, 0.3946, 0.3588, 0.0685, 0.0723, 0.9953, -0.02, 0.8051, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3528 left_y=0.0479 left_z=0.0619 left_yaw=0.0451 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.9953 right_x=0.2954 right_y=-0.0002 right_z=0.178 right_yaw=-0.004 right_pitch=-0.0195 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.1385, 7.2957, 1.5946, 0.149, 0.0806, -0.1343, -0.0889, -1.3333, 7.0359, 1.6874, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.6642, 0.3908, 0.8291, -0.0048, 0.0559, 0.9948, -0.02, 0.8097, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=0.0444 left_z=0.0523 left_yaw=0.0577 left_pitch=0.1165 left_roll=0.0709 left_gripper=0.9948 right_x=0.2956 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8923, 3.3436, 0.486, 0.1001, -0.2564, 0.0806, 0.0342, -1.4701, 7.0632, 1.7314, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.102, 1.6501, 0.4007, 0.8436, -0.0257, 0.0528, 0.0366, -0.02, 0.8101, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3992 left_y=0.0491 left_z=0.0645 left_yaw=0.0782 left_pitch=0.1549 left_roll=0.0781 left_gripper=0.0366 right_x=0.2957 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9026, 3.9726, 1.7216, 0.2173, 0.0757, 1.2088, -0.0479, -1.2786, 7.2547, 1.7216, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d31037e9aae52d52ab541e06cc775dd28b58ffa73f76668db667376ca8da1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcfe80813f6a49231d459c0646f3793154649a4ddd1c4b722c3524c0716c64fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a304bcb954dd34e7910ab3f34542d26f5eedeb64a4443c5183b230df669b5825",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07d29d1e2f1cf04f016ab42347aea887d09f98a6c29c5356a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"The third close was also empty, and the overhead view shows the toys remain nearer the centre than this fence-side approach. I’ll withdraw the left gripper and reposition above the leftmost toy using the overhead view rather than trying again at the edge.\"}",
  "call_id": "call_WBZFPI7nAjHqEkM6nWlRTGUm",
  "id": "fc_07d29d1e2f1cf04f016ab4234b3ebc87d0a92342de6950e25c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBZFPI7nAjHqEkM6nWlRTGUm",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3331, 0.7273, -0.0944, -0.8948, -0.5278, 0.9981, -0.02, 0.8146, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3113 left_y=-0.1819 left_z=0.1622 left_yaw=0.0425 left_pitch=0.1459 left_roll=0.0682 left_gripper=0.9981 right_x=0.296 right_y=-0.0002 right_z=0.1753 right_yaw=-0.004 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6564, 8.7316, 1.2234, -0.4469, 0.1148, 0.0415, -0.0889, -1.5248, 7.2137, 1.7363, -0.0806, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb92064a99be401fd670bbe38eeab5021a43ff2a2e4b0919dcac26ec007b3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90114ee8a9336a1f7bf12927c167661e626eea43766fd523955d648a8c202f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cccd4506fb18a38f4444a678eeae4199025935d6e1c948349cd05148dcc0d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1608, 1.367, 0.3973, 0.3653, 0.0563, 0.0704, 0.0336, -0.02, 0.8051, 0.6086, -0.3847, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3539 left_y=0.051 left_z=0.0625 left_yaw=0.0584 left_pitch=-0.0415 left_roll=0.0413 left_gripper=0.0336 right_x=0.2954 right_y=-0.0003 right_z=0.1781 right_yaw=-0.0043 right_pitch=-0.0191 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.8889, 5.5179, 1.663, 0.1294, -0.0024, 0.9597, -0.0615, -1.306, 7.0359, 1.7411, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.102, 1.6501, 0.4007, 0.8436, -0.0257, 0.0528, 0.0366, -0.02, 0.8101, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3992 left_y=0.0491 left_z=0.0645 left_yaw=0.0782 left_pitch=0.1549 left_roll=0.0781 left_gripper=0.0366 right_x=0.2957 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9026, 3.9726, 1.7216, 0.2173, 0.0757, 1.2088, -0.0479, -1.2786, 7.2547, 1.7216, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3331, 0.7273, -0.0944, -0.8948, -0.5278, 0.9981, -0.02, 0.8146, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3113 left_y=-0.1819 left_z=0.1622 left_yaw=0.0425 left_pitch=0.1459 left_roll=0.0682 left_gripper=0.9981 right_x=0.296 right_y=-0.0002 right_z=0.1753 right_yaw=-0.004 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6564, 8.7316, 1.2234, -0.4469, 0.1148, 0.0415, -0.0889, -1.5248, 7.2137, 1.7363, -0.0806, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb92064a99be401fd670bbe38eeab5021a43ff2a2e4b0919dcac26ec007b3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90114ee8a9336a1f7bf12927c167661e626eea43766fd523955d648a8c202f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cccd4506fb18a38f4444a678eeae4199025935d6e1c948349cd05148dcc0d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNUUJXjFCGoYoEkAur7pDeuhqxg94TJ3WF9qLMWpenjHNIUtf6NxDeK6utOv59UreaEEMI7VgwO9pzcQG2iwBzcrIi0QAqg9oKq8eDKYRVjknnMLpMUoH4_d82_-HiVjapeZL9V3udE_Gm-YEwxm9ff-PPk-LXcP0qhNtTsowfPp-C40LQmii8uTikxrO0Cr4OS42WRFaaZIsiECoWp7TmcK3Ty6dAq8Kh_80F3OL2AjXgU5rPkYSBF2CoEZWTS9HXgm9dBaHDNqNrRKiQDl8kSFwXSV2xTg4SxloCkywd5BuidL4eupNE9EDRCLeI-ftKth2SbKSB3hBlUHUXrV6NzVAOAY5PoQmltFyJCtWe8u3wQ7JeKnLpZjOh1jqzhBU2NyZqynFSHapRt3xW7-eVVmFjexKjZ0GYwlHUZ8dKIF38WRF8WxzbwA0LZ8zqwNJH59F3btcsYoKvMXNY1t2ANNZyEGuDCbItqJ1rozPxFiKd8Kg_3N2486SEpaxto6D3jZ7_N_IXPDmqzqhBvuvuEE9e27n8k82DHGdM_hyVOqs6m0CLBxw5xlYOaAEyTUg93Vsk53Caj2C77tBPqH1lthzvTT5rhoV5FGNv5WVB6ad_8PTcBKRJ6xsp8jnwPKsu8hMwUWXnK7F93667-7kBTrZ7FabiqiKPBgp5G2viabn0n6_SENM3m4B5ea5tvI2tQqz26Ab9eOOiRxWIU2I0t6Nyvupm7ox5zZbQoLd1z3DqcdcxlD9tHfSzAliXDhEFuYTaNlUtZl2tEZs8xULQRuNF6Y3NjaWooFlv6o1BNEKCnZRozD7ppg6VEseJ-uUTbnONe4wwFgYoyBHeFU50r-lH_ddgzPXkyjCJFnlp4cqLsbAutLsEY78ri39q9PRBDe8B-TYav73GeTe17RBvbVIV-i1uA3IaBpnSzdzt9zOxoG1xTK9FSrBr9fzjdXKBwmfo16EjYAY7f2FXcg6loamCAQI7Tf9MOZzZMTLfb2J9lXfwDDpv51jrgZ5NnqWrdrJj_RL9rT7HF0IoD2BeoJBhaZCqqnyzlRT0e1fJOdaT022PI-ZmZAn3q_c2Z8hzqiMZYNHuDovof3cigfq3JTj6-9NhsRqjDOTSPosl5QAL3whw2KVthew1Ys9kBusy9jyCTVWhHomY6O4-No6p2-FkWpAJA5esjnc5zjLf9zrm-pfYGdZJOfjeYc5me503ba9ydRtaEN_otHv5QMm3MK3ZAFn4Whny742xUi43wKuKCpep3cGGKkalQ3q2rV3aoa7yJr0HN5tPxZcuPHDQQ9NlMYj9HqbgIdaQLElzHCOCckayeDrORtnMW9qKkZlsaZekiuHsQAs_obSleLWMcOQi6FTodVPMz6dW2LMAcoBvLQ73-PfhyOU9_cSR5svDt4aEnzkdEjaFzSnJ3XyHIuyUfcZvNZQcF8mjNhn1tNq4I_e08IKmxnFBBA8xUTPqid0DFSH6NQJbPiLephM1t0qFcpHLUDaNQZNk8GORa2osnM8a6sFAREU2KdigRsbPmKVoVMCLE2tDAZYAfO77Gm5qaFleZPckxERnSw7KKsh7G-6R3rHBtE-HzeiHYC69CYkdGNEYFsKPiXa4Fc5WV8eoQ6Qfr1-yDv1YEs-EkaDC-JowqBqdFtrgz7RmHVOQVUzwEp2z0D93fCtgtpNBUe8HB6wQf1iyjZr9QT-yKfK1w2OXgABocwDrmXHCXcxIkFLPcapx7g2SsYdpWALQV37pTpjAkDWfgWd_WFxgKlTbtU4XJRH0CWQsCYJ-4mF3sC-aVQifKsCQKbnWzzwq2BsyHaClYkPvxwCOYtgbAtSc0wxp2Je-x1NuBVKkOgriy9IFrzdQcS1rpI3n8OnehRzTya5_OZJ5hz0yhoMyqKCXN9yxQ78J7It9J1sJimJmENH9bd9QO89XoTxyGOSlbc_yv5J42q2sykTfbm_tWzuQZNULrb4be_Zod868-QCy8Bq5oI5yg01OK5TPTAl1FmXbdKleJx0COcVTyo_KvqxRpnwHVZmq1EzX4Wa0AscG4OozG1Pr4xMTLotLhv_xh09nmkNlAz89TBfmu84yqMFOmFqBnkN0mCg7XJn82zuDK5eVN16bxlVz86nvBOmnMYbYU5YTWeh_Nk13QfQyMqAy6UnooaxJQi3J-MT5cazA3sWlsvkaJ2xbG_QwncanW12-KaJBMpyLvN8Zxsb0lUkHPBWgQHq4k353-EMEUfIkjRqXDsbVH4LDorlZwLLqDHL5ZD-R7-vJSQOJHCO9drcI9OS4uemWsWsisaz5MdIp-ZejtAg3yx5R9WwjfKgzFAyF_FfEIyTVmPUOrzXMIVitmuREMuiTbUvnxxdWEqBy2Ppy7Rbf7TvrN8U7lsNXw8D9gEYsThl_1MLULD9BOuN9tp75vkPNhAxTAiZA1YKvQg-2d1MYzsB44p-8z44HgeeSw3XWrHjpI_nV9Wlql9OTL7rzkw-yZ_ynyD-Qn0j4700qsMCJPF_-5Jap24SRkiLgchdzaREJ3raPFS1nvkfh7dixbErJFOlvNsIPhfioP4fVusTmL0iy6XEta0xHdj1AKcES4fMVIaGHqA-YHZizEW1iJW2T4_Y_c-swG4rawNkO6nU2EzlUW0tHVC0DE1tZcqLn0ibF3fmsUd60x0gflPCeg3WGJi-5gmsFb_QFGclF_1vit8p5nhEmruWtaydOMDVJsmfl_JRlrhDjMGc6ed-JPb-gcQc8GACqWfxvT0tKpM58h6bzMlHJpJk_nwLF4wjjKmcTFfQjg4yk63fAHYyR0OKCTyVfKbEvBKqieRKFxJlRG_cM-Tl8u0CafnUI9ZhE8_0_51LiPtFAkS6MjwNVrDZnmQXNFQyaCNEXFalxKqgbQftstCDjtdt8FHrNbNzKBJ3zYhbz3yYtP97REbloSGF5Harbs-Wb4UcPpc6l60ZXaLvWZp_Nsa0SwEvFS0FZBXc6nBpZXCoYnfLBaTvxwWwd7wTiq-WZ-bcS-CmiNgMWpUvgN7V7VtmCm1q-HdRIdlHef57LOiwlKbUeUAu74e8CLXX0jI6iKIxUYjLgpNdYlCXensaLBmdmiuuq0ItnFT9Pe5-J34j8Yvb58E3aBFc5jhnHFSbBgJGNx7Oii2g1_nZV-wk-fj2_AH3-z53YYbGEwRz1rKrX5KlHldbDlPleVwjbTfiNuSDr2rhb0LgwRiFTdtxec_UOpbwrGIpfBO2bBaIF2pC_sWyiI53Hyz2hrJKxCKKD5CGkiXOnV1Cz9jyPQkGNGzr8nkm-FL4oW_Z_4KvMh8dF-icA4npQziFs0TapkcKkyWq2mjLIzpWEnvLy7waKjrkHf5g==",
  "id": "rs_07d29d1e2f1cf04f016ab4234f04d087d08416d2a072fee31b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.005,\"left_z\":0.19,\"right_x\":0.33,\"right_y\":0.32,\"right_z\":0.16},\"note\":\"The overhead view now clearly shows gray plushes on the left and tan plushes near the centre. I’ll park the left arm clear and bring the right arm above the tan group, keeping the two grippers apart.\"}",
  "call_id": "call_2XlSAzDQHh5fWX7nn44F6p4R",
  "id": "fc_07d29d1e2f1cf04f016ab4235317b487d0a54236bb3f7c328c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2XlSAzDQHh5fWX7nn44F6p4R",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6811, 0.4915, -0.2245, -0.2298, -0.0574, 0.9982, 1.029, 1.7905, 1.3045, -0.4541, 0.7677, 0.7158, 0.9998]\nstate[eef_state]: left_x=0.2918 left_y=0.0097 left_z=0.1938 left_yaw=0.0926 left_pitch=0.1588 left_roll=0.0583 left_gripper=0.9982 right_x=0.3281 right_y=0.3143 right_z=0.1492 right_yaw=0.022 right_pitch=-0.0582 right_roll=-0.0214 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -0.9231, 6.5436, 1.707, 0.0317, 0.2027, -0.0024, 0.7863, -9.1009, 8.4581, 1.0379, 0.6716, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63e785c21026d5fecae5d841b9442f93e9229622888b4072f853768a12cc66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a5d423583e64af84d0a5b9109414e5fd43713b2d70d294731a413993bebfe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef79e3db8d1c46ac8522aa70cdbfaf956fbfc9c13cd14983e7123389cf83953a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1009, 1.6642, 0.3908, 0.8291, -0.0048, 0.0559, 0.9948, -0.02, 0.8097, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=0.0444 left_z=0.0523 left_yaw=0.0577 left_pitch=0.1165 left_roll=0.0709 left_gripper=0.9948 right_x=0.2956 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8923, 3.3436, 0.486, 0.1001, -0.2564, 0.0806, 0.0342, -1.4701, 7.0632, 1.7314, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3331, 0.7273, -0.0944, -0.8948, -0.5278, 0.9981, -0.02, 0.8146, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3113 left_y=-0.1819 left_z=0.1622 left_yaw=0.0425 left_pitch=0.1459 left_roll=0.0682 left_gripper=0.9981 right_x=0.296 right_y=-0.0002 right_z=0.1753 right_yaw=-0.004 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6564, 8.7316, 1.2234, -0.4469, 0.1148, 0.0415, -0.0889, -1.5248, 7.2137, 1.7363, -0.0806, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6811, 0.4915, -0.2245, -0.2298, -0.0574, 0.9982, 1.029, 1.7905, 1.3045, -0.4541, 0.7677, 0.7158, 0.9998]\nstate[eef_state]: left_x=0.2918 left_y=0.0097 left_z=0.1938 left_yaw=0.0926 left_pitch=0.1588 left_roll=0.0583 left_gripper=0.9982 right_x=0.3281 right_y=0.3143 right_z=0.1492 right_yaw=0.022 right_pitch=-0.0582 right_roll=-0.0214 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -0.9231, 6.5436, 1.707, 0.0317, 0.2027, -0.0024, 0.7863, -9.1009, 8.4581, 1.0379, 0.6716, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63e785c21026d5fecae5d841b9442f93e9229622888b4072f853768a12cc66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a5d423583e64af84d0a5b9109414e5fd43713b2d70d294731a413993bebfe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef79e3db8d1c46ac8522aa70cdbfaf956fbfc9c13cd14983e7123389cf83953a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNbeT5diRBygxSTBxuOHEzol8RpGvnMm_LT5m6-b9R_i5THyVzm2caprq5nazM1EnYnjwdlbw5Pw7ZRBqjYESceaUqUTGYORziRJouf6eKJVsD2JkebVm7wKijl3OLM8JtNzYXmZ_31XnFdr8Kq_LSdxIm0ZEw0a7p8PmvJkfMGa8GKHkUhQLSEpZTI3QXrbj0YJAyJzFcnq0vu7_zRt81_V3y0xMxvZVFeKpzPoPW2lN1KfzJSFwYi5c2GFAuMOuNINmeSYCh3g1CuIYmTIaSOYJy4zCkXJart88OOVOPEzaGqTfRb92TP4kpuEP_kGtEQ4hfYd1fQLognQWhczMt4iAHkZl09pEAIpaM-jJY0PsUpCpYZ53u1fuUppGvyKh3yyWv7LQP1X-PsASf-WbUB4X7vzXu3_b9p7-asxNR5-Ic1618nrh_zzO9jy-FFIC-7QYrsHF0MkoTm0MncJWv1io1Zg2e8UDDIIp_Um8QMgXgJrwXweQt2l-PjKAlNUBN4N_NXfJ3ZuzOMKkbYmGKFAGLmaEIODpofX6vewFYbmJG1QNvASZAPvJzl95gfRqVFNR-lHSjnSzExzmko-_r3v_J5L0bRclDsFfBi-HbhEg0Rn7g-ViresahdeuOZLT1lGaXHiY9Hh9eRxSJhYe1DkwB1Z2ZR-Ti1s_OrpSMZVjVCO5MmZrC0281O2NgJUmWc-HoGnkLjZeB-Qr3bDfjRXi7RyBR9P1rN5oiPmyM5Sj6F495h1l55204K4xkx5w639K6dHCok4nT9s5qw5S5-r5PrJgI6LkTA3yW7EHrXolfVKzaYJB6GE7HWwdz3pp1wR-iQp1IxuMa-ftyRNyHSJpgTYkVMaOEA0Glfocr_eDKg61LHej2WD3VheQ-hB199TcXhBRl99IbzkQbCylaDLINnr-1gYpdQKQptQbl0bG1pLWYRj1xUCcpYeFC75S_O9_Cank9iKVjsHmtvOb15UJHEqaYvxZwJcsHQXbO-8w5pOrqG4IRjOvOV3vr64prpABtuC9CtFdDAk0E7BMB6t0P0LvIhFJ7zhaXD-WpRHyYkz-jEhfRyErPSwoVqdrc--HDDwjra3AuiwJKIKE2csPfvO3b01YicePKO3Nve0BvB3qVxKLQE4QEQ1N-8kiE2yHbmWf99-8DCBmPc05DTeBODkCOBcBK4ermxvvebsgP8ET0ISGeAmeCXeTcC-Sg2hggKhFKFRgzQ0pkfyJW82fuXkOX30riBPIntmEPnjWNhWSJ1kVkUvWMUs3XXoAQJP_BRWQtOnpMi0RjN7jTOWDeOTFckbRomLCeJ5Sa57ZnPM87TsXsrlnxtJZlY91SSIW5c3k31LoWLlBLdOqEUMrI_ilwArL1RThiI5uimYtvre1838gKNv0B047Adx_SqeSjmYHAmlP8oIVvBkVmU2iX8jhUoSvgZVpBojxRAXfgZ6YZOIQwyconUMNT22zyAx6EPLQlbg3ttNSP9hOg1EksLz7kdTO3FB_oMJAaieeHS-JyZHFoJ87USMijWIrrkUAMdgbnhywb9aTlxViDDWTYGfbjNfY2NSf9RfVD3vdvlhl3iQA1R4vC_aO5X2QPvg1xBucMuBFSCDiiI71B_-Ut86csxlxRVlXV1ghBWICWfH8ctOOzDAbjp-hfv-UuSgCncrW_qECgZTcmKWfeBaoZqZpQEwVpu3eTcwuH0h5AlT7LDktyIhNx6gNqBbsJL2bMK0f1rhS5DX9cSqkHthk6tMVkCgD5j1uI5Xk3MyfGK4FsiKqBDs8a3G6cQR5D9_sB5ZUOTQH_3ApMJ87q4NKDn0vHbh9xYE4cWHlubh52lI_OpLsWp0ThnS-MnXopKWo58LtSj5SLiZ1RgJ3zdKMhSxmjsF57pfUCvL7bJuDz-yRnfIZv9e2bBlB0wk8NA44Nolg82-ZC0Vut3DqgSQv08vwEBJqctOJSc1I4GHpbfcYoW9nhgRXJrw-sPFwU7h5r3DYd757gOCHOon0zEpBA31X7jgS7EUZcE3EbkdQCVxaXbBU8p6KMX20uPXxb2AHv2XL2NnhclaCcskmur3wzWgLcLbguv0tOagB61tZp3Uuk7vLlO_9Fiby8Te00PdKVt7PhVZqcZsJEJ9dbcQf8bE8RgbrbQesQ_9-tMzzeM9qVf882trtOlW16J9eRH07dq3NODt9snIo2WTQm63DBu2R1RNBk7dtDnHMUXPEWyXSj6O_ZqV_u0s24yMRkM0BVIKNJk5-MJeX39Y602zgeACA9UQrycBCdC0G-RAsq9_Wr3nL7Q2O9pkolu9z2zOOXBNX7JWeujuEaWj-Dxpv13ew4WrVs2wmt7pcd4cEQtcGEkmpXt9xPUdLuukfb60LnLNgW97b9x2QW8-ceNcMs9ywIIIJclgmAK78Lz3LR8bAz7221YBNzJRJRDaSwInAPIXdin0mXue9pQK-oUBwB6kdO4toKkgUeh5Y_mKNNVBV8JHMhXCsFrZPn0fcbgfXkxUdmeab_CRKEaSGmkUFUEOOCAADFG6BgIB0yDsZS2wfXZ-JEbhnaskl66zw1f9SpmFtPERVgrV07_iZdU2giW3aM021D8KOysSup7dZVWYLlAIWAzfZkI5YzrTLwp-Qf7V53KhvpLidXEBLvKAX5YeZWu3mXuNPcJce-nnQla-GR1T-i0bC6rDOrZfBdKwkVded4H16IgK9tZcxHDszL7HmIG9ImmVnKR0lrxUEUQRKQnVyHTdnQZRIMgwVP_",
  "id": "rs_07d29d1e2f1cf04f016ab42358711487d0a22020fe7a91b620",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.365,\"right_z\":0.06},\"note\":\"The right wrist camera shows a tan plush low and slightly left of the open jaws; overhead, its body is behind and left of the current fingertip position. I’ll shift the right gripper a few centimetres toward its body and lower to grasping height.\"}",
  "call_id": "call_aT70zdSxcEmRPRk0FIxiuTBL",
  "id": "fc_07d29d1e2f1cf04f016ab4235b1fd087d0965bd94058ca13bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aT70zdSxcEmRPRk0FIxiuTBL",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6853, 0.4915, -0.242, -0.2245, -0.0528, 0.9982, 1.1633, 2.0148, 1.2762, -0.3378, 0.8181, 0.8547, 0.9997]\nstate[eef_state]: left_x=0.2905 left_y=0.009 left_z=0.1887 left_yaw=0.0849 left_pitch=0.1369 left_roll=0.0648 left_gripper=0.9982 right_x=0.2916 right_y=0.3593 right_z=0.062 right_yaw=0.045 right_pitch=-0.0845 right_roll=-0.0493 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -0.7726, 7.2137, 2.0293, -0.1392, -0.105, -0.0171, 0.759, -9.6615, 6.7897, 1.0916, 0.4664, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f848c64947ee41ba0b0a5e086c55b2a7ead39ab6264e296a30c5f18410c3d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c74d22084c87f92d79335e692a3e6a747cf9df1f0754a1a59681aa15969ffdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71496dee6933e5e7ceed8fb87fa50fc738150935218a247a1300c8de19dfaed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.102, 1.6501, 0.4007, 0.8436, -0.0257, 0.0528, 0.0366, -0.02, 0.8101, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3992 left_y=0.0491 left_z=0.0645 left_yaw=0.0782 left_pitch=0.1549 left_roll=0.0781 left_gripper=0.0366 right_x=0.2957 right_y=-0.0002 right_z=0.1766 right_yaw=-0.004 right_pitch=-0.0244 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9026, 3.9726, 1.7216, 0.2173, 0.0757, 1.2088, -0.0479, -1.2786, 7.2547, 1.7216, -0.0708, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6811, 0.4915, -0.2245, -0.2298, -0.0574, 0.9982, 1.029, 1.7905, 1.3045, -0.4541, 0.7677, 0.7158, 0.9998]\nstate[eef_state]: left_x=0.2918 left_y=0.0097 left_z=0.1938 left_yaw=0.0926 left_pitch=0.1588 left_roll=0.0583 left_gripper=0.9982 right_x=0.3281 right_y=0.3143 right_z=0.1492 right_yaw=0.022 right_pitch=-0.0582 right_roll=-0.0214 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -0.9231, 6.5436, 1.707, 0.0317, 0.2027, -0.0024, 0.7863, -9.1009, 8.4581, 1.0379, 0.6716, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6853, 0.4915, -0.242, -0.2245, -0.0528, 0.9982, 1.1633, 2.0148, 1.2762, -0.3378, 0.8181, 0.8547, 0.9997]\nstate[eef_state]: left_x=0.2905 left_y=0.009 left_z=0.1887 left_yaw=0.0849 left_pitch=0.1369 left_roll=0.0648 left_gripper=0.9982 right_x=0.2916 right_y=0.3593 right_z=0.062 right_yaw=0.045 right_pitch=-0.0845 right_roll=-0.0493 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -0.7726, 7.2137, 2.0293, -0.1392, -0.105, -0.0171, 0.759, -9.6615, 6.7897, 1.0916, 0.4664, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f848c64947ee41ba0b0a5e086c55b2a7ead39ab6264e296a30c5f18410c3d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c74d22084c87f92d79335e692a3e6a747cf9df1f0754a1a59681aa15969ffdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71496dee6933e5e7ceed8fb87fa50fc738150935218a247a1300c8de19dfaed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNevfDH1P6FkwyWyGuE-nQ4_mXAJfZn6ID_Zm_jtkABLFQxbL24zV3obVDMocBuwt_Fdc7zMzy3xkLtLcq6cEuz3M7RdqA2-5yRpMBm4s96s0V46EPW9BbC3PvIjsvpS0yfQiKuGCs-F0Ko90J-Fbj4BWkFVPfv05D3PxngoI4oM6cERRW4KdHY9t2nvOywtQLxNnfqI1g6SH1brBzzCjRzJg0lu-Lgdlibzn-dS0riC8P5CHTBqS4h8w0PSHHy3lPoqr1V5pEqxydNTGD4MksZz5nukJmopHlRgvx-BOc6PIjKeKF6yWrGcwfWBNtfqCgsDhzBNIvDcecDtB7QN70jaiFn0FwainjyFhuHQrAXsw36HOJNS8rvkw8yksruAF8YR74mk4bBIsZMVKl_m6J5TFk59JM17zb8sMmkwd5-0nDOFRaYflNELjR27aUG0SR95WSJdkVX3vqnBz_UdoZGpNy5y0i4nFDYpi6Z5CBtOzZ2Rlxxt6JtZusC9z_tt_4gCfPL0VpXfc2TqulcFnjr4QLBP8MvTjY6luJr09ep5lla-5geU5vjAFMLlggwWOIok1-DFwtuksixCUX-hQKExqhzqmk5R7foGVAGNKImDhjXdokZUaTLTMe4zUBmMN0eQZMJLzuch1diTpHEWDJZLkPYPTYtDzS3-LFRcZpiN5lXkH070LnxoGnfiF9hOiFaZNDpgIFbtnvDUl_dk97LgQV7lARUOYNkE5M62bW0IDc3gDRQWrg112DMhzfYK8Z0epKrQ32pF0R6bVAyD_Ak6BIB8XG5z6KsHqz4znS84rKiSgDlhLgFnSlQW-9MWWVy7Dzd-wsziRXjG1EA1MwL4J2dFkS7YLlEOwhaSmGLwZmCknbD4UiTTlxHYLsHdLL16r-y69iLQXqr2-vvcyivwvErwQfA8hH-CtZVJNWadalLL6siefUQCun16S0d4P4OxBsMKEtqDO3rxAfv8yFAOOdeKFFjlZ-pEjiFVQr4Gcci4EMj5jUxmfYJU3XywaQbO3T-4lQVVXbfnTMQJDTQDBjf68s6QXMRzWrQKKhkqW7cd3fSj3zkm6yrnDGf9IChcohS-z3R8-0hLKoIHl087PxaBu4ZmFz6HJ1HLg6KUNe8lmORO8hhpabK2fIyq-4w8PtlEWNS_OaVJn5NAcK_67Zo0MpNBrMiKfm7qzgMEgSmwVaONq_rrpIt08l1yspCBk8c1I7Y7CZh7SVTIN0P4tA7vuaAzh7JxkXvUY9vdjm2ZK7cKuEsX1WEUbB57jWqvUybOKPdS9nggvwXk88kpA==",
  "id": "rs_07d29d1e2f1cf04f016ab4235d72f887d097bbda634d5c3632",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan plush now fills the space between the right gripper’s jaws, with its chest centered at grasping height. I’ll close and check whether the jaws retain a nonzero opening.\"}",
  "call_id": "call_qJHn6jbNpGwEKPU9KmrWi54x",
  "id": "fc_07d29d1e2f1cf04f016ab4235dad3887d0bf8ccd4c1b86f0d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qJHn6jbNpGwEKPU9KmrWi54x",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 2.0289, 1.2758, -0.3237, 0.8272, 0.8425, 0.202]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2938 right_y=0.3591 right_z=0.0582 right_yaw=0.0446 right_pitch=-0.0778 right_roll=-0.063 right_gripper=0.202\nstate[joint_eff]: [-0.1162, -0.6906, 7.0906, 1.873, -0.105, -0.0562, -0.0171, -0.0479, -11.7265, 5.7915, 0.8669, 0.2564, 0.0757, 0.7839]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3a81864bb65367f6294bf3c1b02e4987112f4182cb55ba9ef633b0515e057a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fe92f17fd55df2de2d501d637496c924163f6ddeec40bfd70ef6b40fb22529",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f90d296a720d787adc71d504b1f142c67656892ac51367f746a28858b375c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3331, 0.7273, -0.0944, -0.8948, -0.5278, 0.9981, -0.02, 0.8146, 0.6086, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3113 left_y=-0.1819 left_z=0.1622 left_yaw=0.0425 left_pitch=0.1459 left_roll=0.0682 left_gripper=0.9981 right_x=0.296 right_y=-0.0002 right_z=0.1753 right_yaw=-0.004 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -4.6564, 8.7316, 1.2234, -0.4469, 0.1148, 0.0415, -0.0889, -1.5248, 7.2137, 1.7363, -0.0806, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6853, 0.4915, -0.242, -0.2245, -0.0528, 0.9982, 1.1633, 2.0148, 1.2762, -0.3378, 0.8181, 0.8547, 0.9997]\nstate[eef_state]: left_x=0.2905 left_y=0.009 left_z=0.1887 left_yaw=0.0849 left_pitch=0.1369 left_roll=0.0648 left_gripper=0.9982 right_x=0.2916 right_y=0.3593 right_z=0.062 right_yaw=0.045 right_pitch=-0.0845 right_roll=-0.0493 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -0.7726, 7.2137, 2.0293, -0.1392, -0.105, -0.0171, 0.759, -9.6615, 6.7897, 1.0916, 0.4664, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 2.0289, 1.2758, -0.3237, 0.8272, 0.8425, 0.202]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2938 right_y=0.3591 right_z=0.0582 right_yaw=0.0446 right_pitch=-0.0778 right_roll=-0.063 right_gripper=0.202\nstate[joint_eff]: [-0.1162, -0.6906, 7.0906, 1.873, -0.105, -0.0562, -0.0171, -0.0479, -11.7265, 5.7915, 0.8669, 0.2564, 0.0757, 0.7839]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3a81864bb65367f6294bf3c1b02e4987112f4182cb55ba9ef633b0515e057a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fe92f17fd55df2de2d501d637496c924163f6ddeec40bfd70ef6b40fb22529",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f90d296a720d787adc71d504b1f142c67656892ac51367f746a28858b375c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNhFekwg6NRcyZUzdwIodkyeUNnT3LZZjBwIZMTJL-B8wBqn7CjVq6vWXty6FfQE84XGMGjO2AjmDenTwSFzNs0-_XgXMr0XzbwF9_aBxdLHQgWRE9HmMEvXTZ9S9SRokeDeG_tSFHvZ930761tk0IjRmI_zFTOpEtqRUAPi1KeE6BdvAeHP0pogiz2tpQDNJMa4hOOIEBiST9Zn4wDaPQ2zzq2aEzzMTi3_GW7lKOlJvMprXOEvNausGtErZDsvjPcyIQIw2-feEHjE_tFhfPCR-Ps02G1skOrBVxIX_MVxN5Zd0OoLv-NwfmyLXMZUxuJPq_HMMbflpjROODdY7e6zQ2V2HcLJ_tIf387euk2-dQRpYQMU8M1dpnwg8DnG8EqdJ6ObPkPPQXQiBR4o3pby3-T0JYgeGqD4680wuS_ZXL3prGHUehk1UJiLI0JDbfWDsEAjRhHIlE-7f6K4CFaCFH9D1caXDbACXQ9Wd8weplPkjFSwCFkoBQCD8ZnaznOgiX0Jqcveu_xsgD3yw-02rBhN4jL553e2v26gI1IV-28n1QNgFWAjK7WthCMffoSEUpn-Q1NdvYnrXOeM4HRVe_aiqJqbIu78XnbRmBYraqpxz4-s-JJn9nUzBF3SAKWIV6giqW25Xg8eTxJqi2n7u3eRtAcCncYOm01e-H4c1zAF9gdNJqRW0PJJ_FdNvnsTiN08xQ2k1gIu1Dwgb7eKJIPsFh47RSwE8nvhseDdQeE0bLrS65ND8Sm6gNwyH-7G_fcSEi8EvuCPB_M_TcQx44TEbPn02wNE9dWpt8c6IqLxqAfDRH0AD3njcd-LQPaH7yMiHKFm0xstVtDb9Ek0BSNIE4tvhcQJkdTUmiyT59Nf-wm9hZ0_dZrbCDK4KtyeJ_6GweRI4klybpXgMBGXsKLKJnKII5el8haP3CCHyHBJwGOQum2ybyEx_R0jtEuTaE3-CfD1rOymfXpca1wtJc-Xg6Z7ExhFRmUgWrMa1yTknAJbgmThGElF_cqwmDH9oL5GcGNUEFVyiGfrIdynHcTHYa9bObxPYNMfuUrYk3IinAvAyB5olUSxPLQdrEyCMivOes3mO02dB4OScsDKBI29BK0Yp-nc44LACAW6DfjiPh5rOXRmJ-HBaCNIOqeM4VRU0SB1wpMXGoABLP7wLKESk2Hfrz1erhznBH4kd68nYzAOm3Lms-guiV_Pmg33CzVCnYeLtSVZr8A3RdnPg==",
  "id": "rs_07d29d1e2f1cf04f016ab42360530c87d0aee0f7aa6f9b2d84",
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  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper settled at 0.20 open—about 2 cm across—indicating it has caught part of the tan plush. I’ll lift it to confirm the toy rises with the jaws before taking it to the right basket.\"}",
  "call_id": "call_IcUtxKCHooO44Urz28Vg6GbY",
  "id": "fc_07d29d1e2f1cf04f016ab4236070d487d0b574a6d1832eead2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IcUtxKCHooO44Urz28Vg6GbY",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 1.9438, 1.5177, -0.6727, 0.8013, 0.8379, 0.2044]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2931 right_y=0.3653 right_z=0.1395 right_yaw=0.0582 right_pitch=-0.1084 right_roll=-0.0763 right_gripper=0.2044\nstate[joint_eff]: [-0.0889, -0.4991, 7.2, 1.8046, -0.1148, -0.0757, -0.0171, -0.212, -13.5179, 8.4991, 0.8181, 0.6569, 0.0366, 0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c75bb3637fa3e66955dcf3c7bdf104f7d9d73d7455baf60a64b5f84e13630a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e145d2d11fc87a426fe050e6f4dcce4c1146559afa78406bbe57cd0930f034db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25b8a4e793f13e02182aad2cf7c21e7c6497093a9e2f40dd6175f0fd2ab72a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6811, 0.4915, -0.2245, -0.2298, -0.0574, 0.9982, 1.029, 1.7905, 1.3045, -0.4541, 0.7677, 0.7158, 0.9998]\nstate[eef_state]: left_x=0.2918 left_y=0.0097 left_z=0.1938 left_yaw=0.0926 left_pitch=0.1588 left_roll=0.0583 left_gripper=0.9982 right_x=0.3281 right_y=0.3143 right_z=0.1492 right_yaw=0.022 right_pitch=-0.0582 right_roll=-0.0214 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -0.9231, 6.5436, 1.707, 0.0317, 0.2027, -0.0024, 0.7863, -9.1009, 8.4581, 1.0379, 0.6716, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 2.0289, 1.2758, -0.3237, 0.8272, 0.8425, 0.202]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2938 right_y=0.3591 right_z=0.0582 right_yaw=0.0446 right_pitch=-0.0778 right_roll=-0.063 right_gripper=0.202\nstate[joint_eff]: [-0.1162, -0.6906, 7.0906, 1.873, -0.105, -0.0562, -0.0171, -0.0479, -11.7265, 5.7915, 0.8669, 0.2564, 0.0757, 0.7839]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 1.9438, 1.5177, -0.6727, 0.8013, 0.8379, 0.2044]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2931 right_y=0.3653 right_z=0.1395 right_yaw=0.0582 right_pitch=-0.1084 right_roll=-0.0763 right_gripper=0.2044\nstate[joint_eff]: [-0.0889, -0.4991, 7.2, 1.8046, -0.1148, -0.0757, -0.0171, -0.212, -13.5179, 8.4991, 0.8181, 0.6569, 0.0366, 0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c75bb3637fa3e66955dcf3c7bdf104f7d9d73d7455baf60a64b5f84e13630a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e145d2d11fc87a426fe050e6f4dcce4c1146559afa78406bbe57cd0930f034db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25b8a4e793f13e02182aad2cf7c21e7c6497093a9e2f40dd6175f0fd2ab72a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNlO0UETs287e8x2iA3J4DVNXI4VFrpBxhG-oYmz3yu_9r-TE2T-laqn6htqTNqRNmUaiigYg0A2mQ7N-DJ7psw1CS5dpat23EDq-eqFrK_w4Qe9EGaWIMLsrqe_y9lT9ddzMjo2fAX3BX4MusBdCL8ensX9_0_viTDIKLb4pU9XX_oE9hNrDTnaXK9vs9RIX_a0k83xPHg1u0v_LSoYDvo1XAyX-aWOunYjlN_VcoZMpnJ2cOzP9MGq4tV2V-9Gq9JMC1ftxvGBqvtigHeOTdGKLg72ENyFxJGRqtTeNcog9IeFs4_z1TlwEwYYk9Bd-3Rrlyidg6f5R9bZJG-QbQDVkTq2oXhJkGHPk5rZTzqs7aQGBIHDkWoPZQqOKX5nPNpGSjtm0RKHZxiKfuEfIlp7OwIPnRdJ2I-h8OHik699_JTGdr0RU7TprslDzQ4SLhH30SOeoyK0zRDTR0E3HlOv1HizeAJ_5j_EwCcIww3aElXshl83uWnwcRikzzP7V-hEQFiTASk1JGbdIGYmdg_F3ru9WyEUm6ZQ_fkeRFCU0dBHkMfQcw35TD2pIhHZHz3zBdLF5VYi7ZToVrxtFk6bzDEQJXIYmCmU-YsJ8H-IPPlGbW_hz8mh2iVsouulJijfUu4YG2mdv6iLYjJMrQX1tmSNbR5hAyA-UAAnRLvAL1M7hFFB942kp8_tI9MJzksFDdMbKwAZ-TscPRSDhijk6ESCAguyv2CwABgY0a_GBeNAGaMQbKs0w4KCieBHy5KMxVMg9s4Ys6s4mQeqLHuILpCwMU6hG_TtYEDv0h8OoZ7GpwzgCCfe421wf1OSiXYYaia02HSLvInj4A4YJWkk2VxQOGO_GLKDPMYFRQMn4FzdNhIEykOzP0ChDmbuuwHR8ZvZoeKU1wqHuwPqs_WS4IzBx5prviJhim-Xdz2kRl8dyYc0bn98FmjZpFdyB4FGxrm5lUFEOTOPe51BNxBb_448rJCEb_ETmJ1BUaanZi2AdEWuh5d4Or8nwg1F6walXc7qJcKN8Y_mWM35exob8NiDddY3_KNfD5Ne0Vf39wOUa_tolB55JDn6M25NiV97zBhMW5NR6Yuh9llZPGxemESHaPqu8fIjnNwrWgS5xujkCQQgie3t61RkJ0LUbcKYo0vJjneYmt1J6H1fc8VbANX4D4NnazO7UJ2xZBqJWbGTrfvw-eOtnMkXSOITkyT6XjvZ2rJF3nD3u-wsQYXxAHNsRyhD59I3p7BZUxVvMTxE77FGOV4bup3D9FEP7QLDK0H_QVtK11UiqHftH8jNECFp91eriSjLx4NTGCsuJW5stDNI7ihC2CN6k8RnP02r1ggejrvGC1oh2kOnuqaifHBOHKhSIJMlMBFJaPuH6sb0Y7iiZDc0yyjrPL05MYpMrVyDs70SfRjDL0pFil3laTT_lB5ethzxzLZdnmpi8Q_Wc82m3ZYu0Nf4KHduzd0Grp3l6btdT_HU28WFKo8m8ReyUnG8AAbmzYFc18kIXEu7roKKa9Tu9eNC3QGqruVMnEnh0KeGPYmRb-5QRbdFVTPKOS6PV9CtdIYOCEgvhwIbAwrMFimhh04ozufkliIAlU1YT0-gBC12tNknuisi2JmdMM54Mj3Ty3S2MsYBlk-DLi-Eu8OO9TcFs6eq9I6Qexmr_0dGx11RjIMrCvgGpM9hQcuhPQhYj3m0Xjk5HB9BEPXrwA2cSLVRgyh4-oRbc4-A-5MBvB3S2MianUJnacnzi_dEPBi0BtXnjowq7zDcxFG5hvieh7KHBgSOTRiWt3t1PnCRzKaiXnQ_IzO6-tSdj0xsxGqNrOaGx-KYbfD9ISpW4CiCpKGplXiglTiVBdfN8HI8yIe1gTy6LTZZUiJWkXpgb-nTL6IjYPncGcylTOWTSqiG_7RelUoYliNlSVH1yk2UagOIvk0y2wcMlI7ykva_X4bcgH0sKjnU8kI7LWR1AZvEnIsti1hyCT8skpz10j8oubHZo13Gc1HqdA-BhLT7a5UyfLjEWs-P-7fsqRiQRS_52219q2xtSqWdQ43Yj23D91EmCrFKEUWWAX0Qtk9dcXcuWEXtvSA0D25lpamONX0EAvKnnz5rJaIE3GhKSBUoDu3EZnG30RYZnALU70GxA1rZJj7KmByG-gCwZvJVEimpfqH2XbxQTOE-IqqSQ81TX5r-eLIHwi9s4nxVRjEO3Oju9aXa1zt2WI9577_qMTGm0QXlsJSYWFUmoR_NJ0YVdu41V0S65PrI3Mb2mfD-91tZQzUTLL7wXsbboqkrMJyTZrhjLFmSUjq9xaoJIw0f9s44hv8zKZRRRn_wKj8DiI4c5VaeNOHeiQ=",
  "id": "rs_07d29d1e2f1cf04f016ab42362fa5c87d0aa3fe01cfdf448ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.24},\"note\":\"The gripper still reads about 0.20 after lifting, and the tan plush is partly obscured beneath it in the overhead view. I’ll carry this grasp above the right-hand basket, high enough to clear its rim.\"}",
  "call_id": "call_ZS8Aa7AsoNDA85vM1fjZQyhw",
  "id": "fc_07d29d1e2f1cf04f016ab42364f1f487d0b635308a776f4792",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZS8Aa7AsoNDA85vM1fjZQyhw",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 0.469, 1.6463, 1.4052, -0.5659, 0.3706, 0.2047, 0.2067]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.4328 right_y=0.1516 right_z=0.2056 right_yaw=0.0334 right_pitch=-0.1804 right_roll=-0.1039 right_gripper=0.2067\nstate[joint_eff]: [-0.1162, -0.6359, 7.159, 1.79, -0.1343, -0.0269, -0.0171, -0.2667, -10.6188, 10.2085, 1.6386, 0.0366, -0.0122, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2c2ad49580848a8e21efb19a148905d74134e3af2ba778ebc30fd690336ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33b2bc3a4247d0d192737662b2268503049e035d9f611a3d9c468aad963c295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3559f3213bebc6319765389b4fd8b56ba266496df9a102675f992e3247da89b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6853, 0.4915, -0.242, -0.2245, -0.0528, 0.9982, 1.1633, 2.0148, 1.2762, -0.3378, 0.8181, 0.8547, 0.9997]\nstate[eef_state]: left_x=0.2905 left_y=0.009 left_z=0.1887 left_yaw=0.0849 left_pitch=0.1369 left_roll=0.0648 left_gripper=0.9982 right_x=0.2916 right_y=0.3593 right_z=0.062 right_yaw=0.045 right_pitch=-0.0845 right_roll=-0.0493 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -0.7726, 7.2137, 2.0293, -0.1392, -0.105, -0.0171, 0.759, -9.6615, 6.7897, 1.0916, 0.4664, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 1.9438, 1.5177, -0.6727, 0.8013, 0.8379, 0.2044]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2931 right_y=0.3653 right_z=0.1395 right_yaw=0.0582 right_pitch=-0.1084 right_roll=-0.0763 right_gripper=0.2044\nstate[joint_eff]: [-0.0889, -0.4991, 7.2, 1.8046, -0.1148, -0.0757, -0.0171, -0.212, -13.5179, 8.4991, 0.8181, 0.6569, 0.0366, 0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 0.469, 1.6463, 1.4052, -0.5659, 0.3706, 0.2047, 0.2067]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.4328 right_y=0.1516 right_z=0.2056 right_yaw=0.0334 right_pitch=-0.1804 right_roll=-0.1039 right_gripper=0.2067\nstate[joint_eff]: [-0.1162, -0.6359, 7.159, 1.79, -0.1343, -0.0269, -0.0171, -0.2667, -10.6188, 10.2085, 1.6386, 0.0366, -0.0122, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2c2ad49580848a8e21efb19a148905d74134e3af2ba778ebc30fd690336ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33b2bc3a4247d0d192737662b2268503049e035d9f611a3d9c468aad963c295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3559f3213bebc6319765389b4fd8b56ba266496df9a102675f992e3247da89b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNrj3vTgTMY4VJYlrlYfeEY77JAerCLbAPQ6o_2b1RjMA3Az_mbUN4MpJdG64UWsSVOR8R7Ygy1QomtpffwdwBgKNZKGpk4UC_rHDS9a1aQ1eZGPmQiqczSv-1yiu54O-tADtmhsAe_yHiOxsDRZ-LBpe_WhZurxoHlR2qw2vASSTeuUK5IwA6Nwbr2atrQ2TJRtwyflxXsVSrFE6rtCsglIDBz8mnmUCwnSyICw7B3lfkLA_Ug2ClAr7Lo4zAbe8-20DKOUc46EkBM5aP-giF64LCJS19AAndEMzzhEXTcjucY40GT_vesSroGYnS8D43iHkgp7gBZBR9yyMCZHlTxUuhj9exwH9JMqX3VLQTlGKEr38LMUa2bKwTZRFUPuip0VaiVhCtARdnaOzm5znRtzwCdC7-iMdhAg4KPF3dynL4jSPEvs4n4g7zBjqBJn0CO5t0dc_LgYDc7T7JavaJ7tP9mos13S8ecbwHrjYNYS4fOlI-m6HYHltAIDxxM3nDx_NMn2X2Tq4zmBPhOvljYu0ivmZk7IZz_UeaK3MTLPZz-EVYF64tjirqvJg-IIz9lsHmz_PzCraCpGUD_ljzRkXw0eh9GTnxKgsjT_2G4JkNshCWJQZLvuocMc1ud0mktgzA024iu1WTOZeWUlO6XtjkPiJ_GNjaP2CablA1qO-Rxv8D_9gdOjQlgBlIwVQ94xmToE7GvDPRva4qnGy5Nh1KJB1J8iWSpupjJmT6mEk35g86aiad-ghcYM3LRkL_Cvc1cgY5DerjfQcSuIMrvOEKrXcbwZWZHSsWRTVrLRtZwfxm3tRp-M9CHehwJgA9KYn-vI4sXm0BNx6U0JdpHBm5qcKJs1NDNk545OMC2RH72CBgLKq4aiwfpHNevAJyTUF2LE2IGNUuV_p1ihILuO9KIOarbTIsADLpveIJyRW_r5f7mKRCUHVCjM7LtoEGf19yhYUDJHtyiQpsWdt0n_4JmPkrsmJKy98FI7qYA510gDGJR1wjpaTEjaGYg-gW4B6yso5pXafUJpVIQrufDNqoNqYW_ojEqZKxvzExQ4fpnn1rh5nzqVUqkLrt-xV0Vq4NhwrUEPj6ND5v1ploCEHSlTL7TKIklMMJ3hHJy9FruKJavxhg0kcI7WknYzoBS9rYX3XG8g0ibvKMYkpmzZe1EK5rQ9UlDQn3bk-WlALTUh_Uq-u5lZKyt-81DJuqKYSP-zBXhAhcXtUkb2TU_HHef8zZVyt7vQcGaEJtSu2wiEHX8d8rrhcJuElts3HRmj7mRCFOKEtb9_xCQ9noYSS3p0sRIqYqBrvfArAOVHQwuQKjEvlohIQPQqKmv_XJWrQJKubQtskP2Yo1qePAY2XkMNJcaPXiqi9cOtnCWawOmN0ABLqw9YkxITY6kX2RmdTC4MW9Wz8gmA2NWtFW6DsG6HsFqa_QVhQUw0CFRNneWddCGo0Wa4BL_7Ivt8KqaHDCCr98wj-i6LT3Ne9Vo-cFpQz4ful8CNZwMczQVoMqt-AC6yIHpWj8F-tqcuJPuGLCjWNeTKRSvGFFxtcQUUaSFb0-p6lwT-PVCXXuWdYybjJfnZI3--eGAoMZEvPq6-Q_pJyv05r_u-vXAly659JgFDWytXtJrObRoDD2VX26x0AX4li4KH9187UFn49y0JDxLIfyuulqX0Nu2t8VdZhYZsbKUDyhXsTvHYQV_F8lYYCAdTinIm9zmw0_9WXqz7omBCirXr9FGoB0Wdicg2R0ZbTLWpR6uEljWEqukc4O9NT0wGw_KL7mDR5O2CjbE4gM2KyXQ7e_1kWcC0XGX3wVmFlN3dDBFatEV5uYye2w9MQlzhSfcgAl4JRb1BL9fybx_fZ3Bc3YmMFRoUmQUVXy_mN4zUI42cLVngVL_eSP_nqzVJ13YC2akCcACFVlX59dvi0yKA2fcbRlbcp6-aK8cdFT6sYTey4YrTBE6DexOFdsCfKJUG8LtpqEvCht07y85UsjmuyZN3HpPx9IzzV6qkyy3FfSatiYoFymp-3eu65VOr-p-luUzUd8fWSGIeAWI-AIla3hXBGtA4hIJBKxnx-YGwsRLSLziTaL49GHnEnTJTX5zDCKcHJmjs4MJ1mAScthJLL0j4lJy_QjogSKg1l7ojz85wCzZQim-6jbZzqEA4FavwosfKHI5HN7YI90RMSeQrQgWCf4pqTXVmmgnNXstX3pjXlWL5x6iktlnwlahfShVrihxiekvAiZaKvgN1cLICOa937WH62k3RcGGP-xkqrts5zS-LsqT1UA=",
  "id": "rs_07d29d1e2f1cf04f016ab42368cc2c87d0b8914ef5263ca42a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.105,\"right_z\":0.23},\"note\":\"One tan plush remains on the table, and the other has visibly followed the right gripper to the right basket. Its body hangs behind and left of the jaws, so I’ll shift the jaws farther into the basket to put the toy over the basket opening before releasing it.\"}",
  "call_id": "call_NxrnK0W60Qvi9VSIUo7tdMZV",
  "id": "fc_07d29d1e2f1cf04f016ab4236ac29887d0b08a335548dbac90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NxrnK0W60Qvi9VSIUo7tdMZV",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0525, 0.9982, 0.3046, 1.7596, 1.5639, -0.6357, 0.2646, 0.0925, 0.2082]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0845 left_pitch=0.1268 left_roll=0.0672 left_gripper=0.9982 right_x=0.4742 right_y=0.1044 right_z=0.2049 right_yaw=0.0157 right_pitch=-0.2376 right_roll=-0.121 right_gripper=0.2082\nstate[joint_eff]: [-0.1162, -0.7453, 7.159, 1.8242, -0.1197, -0.0464, -0.0171, -0.1983, -9.4701, 10.2769, 1.4725, 0.0708, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4f3daabcfbe0e805ba8b5f5f3b9533859c31c8e29ec58df23538517d56b21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed55d21884ff90f4d1c185ad4605087b486dd3a5ec896f239b3ffd7b4667ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dccde83c02c5809ae208b8026b5d1ec0502f800db4332401026193ea4895af9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 2.0289, 1.2758, -0.3237, 0.8272, 0.8425, 0.202]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2938 right_y=0.3591 right_z=0.0582 right_yaw=0.0446 right_pitch=-0.0778 right_roll=-0.063 right_gripper=0.202\nstate[joint_eff]: [-0.1162, -0.6906, 7.0906, 1.873, -0.105, -0.0562, -0.0171, -0.0479, -11.7265, 5.7915, 0.8669, 0.2564, 0.0757, 0.7839]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 0.469, 1.6463, 1.4052, -0.5659, 0.3706, 0.2047, 0.2067]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.4328 right_y=0.1516 right_z=0.2056 right_yaw=0.0334 right_pitch=-0.1804 right_roll=-0.1039 right_gripper=0.2067\nstate[joint_eff]: [-0.1162, -0.6359, 7.159, 1.79, -0.1343, -0.0269, -0.0171, -0.2667, -10.6188, 10.2085, 1.6386, 0.0366, -0.0122, 0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0525, 0.9982, 0.3046, 1.7596, 1.5639, -0.6357, 0.2646, 0.0925, 0.2082]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0845 left_pitch=0.1268 left_roll=0.0672 left_gripper=0.9982 right_x=0.4742 right_y=0.1044 right_z=0.2049 right_yaw=0.0157 right_pitch=-0.2376 right_roll=-0.121 right_gripper=0.2082\nstate[joint_eff]: [-0.1162, -0.7453, 7.159, 1.8242, -0.1197, -0.0464, -0.0171, -0.1983, -9.4701, 10.2769, 1.4725, 0.0708, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4f3daabcfbe0e805ba8b5f5f3b9533859c31c8e29ec58df23538517d56b21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed55d21884ff90f4d1c185ad4605087b486dd3a5ec896f239b3ffd7b4667ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dccde83c02c5809ae208b8026b5d1ec0502f800db4332401026193ea4895af9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNu2aHFrUVmwlhqBH4Is5CtBSCRTlSpfZkNgUhDB2tTQtFU67BTjpWJL6j72Ed4kUQUSH2XQqx_KEX2QvCT6qcT5Cz_5N4amGdq4SrZ5l6h4LyH13igqKSDQYC-7KyP0g8cgkLpNVS7mG_mP3V4vZ5UWvZeE3HeP5OlCiz3XzKc3vU9QlK-eLSinbvpAo8WkGyNIFTyUm0TKLm0NC-KfGOoMmNPe9JKMV6VqI2O7a24PDgW_JIc7rB9VG-DLijAemPcgToKacxE-L8j4Zdlx_iJCx4l_Fd8z_z0fS-UUnJ453XoZtmYSA5rFAe-DRpBoL2XDpBVZEJeDscWrqXqXHjzDW9wyquD9cvWQKck2JIrmEirZgzEKx8v3sLF4_XtaXaxwSIPEDuiYZzgSeQrRSoF5I_J35B-0Z525sonoqIm2NKU1WfCLcECE6u-RUFn4GfhKcu6N0GkvIOsHwlZ1eaJ1UeZdBuuQo_vA04rKtMc09xRcNljKDfrqMPCEpu8RGlFv_Nny96lWSbmWwLGCG6boJyyBldaWuUG9JQpaMWv1cvBUleXSDImP3zBpvo5UnirA4WTVGWdgXR6oh0hD1XfJpnZoJJhbER2tKYbY6Ik2lGMCwWdfngYPmRWDfQyZd1VDYgVmP5HkMTCHDHNkYml4KMX75iZIzcW6nkbTD4zj_PEI6HGih0E4IQS5S_T7naY_PlGqo36sj4PopkqoIJg9C9lMfVHqn5wXHiJlLrauqL5M8OFlOz3TSnbt3CtyCqjj1P8I-dyswIrJr8tviipmNGaeUkiHUNtm6r0WDua4GUDsrAG-QrkvB6nci2F5nv77dbbnZ3P_HnbqkmHtxkQFdjupoDkGYksc14V9LX_MjI3yLdDFwmZhVgG2CFC_K6jYo2UPF4ZdKkziDCAPgREiJ4GnYdHv9AVsa9TNGzN-R3xgximCfb06YD9orFEuo1AEoasbVeT3BbPJCnNDs_zYgwMRyTfwwVur_p61J2ToTnj155PmGuOeQ7V1odLbw0Y7IfcQLdUqDID6FVmyvf-DchFdBZDlbTNpetgGU3eC92bTJvqiSU8AuBEerJ0Af6VQo8PKazOGlsVRDgFtljZZX3bKYXPMvBhvYxkVrwjiwi7d4B-ox7S_iDZ_LcSxIsYEmZEfJoE3Z-VyOThsc21QL2BR3jnjAsc-4SN2hjXe5YDBTGW99Ho-tLyUhLzOSQU3yF4of3QqxbnOjjH6moUlbBSKGf5ZnXTQsLbEGmrO0L5I5joX08kRjJpfM3AOCKxcNXmzIjg71-aYbcIOigc41vFJwoVoaoflRo7C7Rfd3RDu9OnAC5wVjtabxtt3g5QuWlE7CodDE2oGVQjwgV_dl3IY4eCT_lPpZ6zBnPDb7ztTCcrYczBm8PVBsK97ipLLzE9ZRzeUsB2e6F2DFVjT1sidwzFi73Gjb17JbLQoD9-35brOep77GKgAJ-RITN5i1tTPzWcHj3NwdVKDrzZyg==",
  "id": "rs_07d29d1e2f1cf04f016ab4236d43d087d0b592bdcd4ffdf9a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.135},\"note\":\"The carried tan plush is now over the opening of the right turquoise basket. I’ll lower it just inside the rim before opening the jaws.\"}",
  "call_id": "call_dUPeVZHmofjtayqS4blnH4G9",
  "id": "fc_07d29d1e2f1cf04f016ab4236ddd8087d0aac09166575bd0e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dUPeVZHmofjtayqS4blnH4G9",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5909, -0.6388, 0.2409, 0.0738, 0.2096]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0847 left_pitch=0.1268 left_roll=0.0669 left_gripper=0.9982 right_x=0.4794 right_y=0.1035 right_z=0.2119 right_yaw=0.0337 right_pitch=-0.2265 right_roll=-0.1124 right_gripper=0.2096\nstate[joint_eff]: [-0.1436, -0.6632, 7.0906, 1.7949, -0.1294, -0.0122, -0.0171, -0.1026, -9.7162, 9.4974, 1.5604, 0.0952, -0.0464, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36bd9bde6343ba655aba1a12a262b4f2554d8c3deb4df0530b7ec0e913396abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc81422de43ad8b354a16cdb2935476ee87db2084d8801ffdc72af61c5ac7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701904b9f939a3d14b2bed9f66a9cf0b2b8355f9eb31b6db779247aeb4e5a539",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 1.161, 1.9438, 1.5177, -0.6727, 0.8013, 0.8379, 0.2044]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.2931 right_y=0.3653 right_z=0.1395 right_yaw=0.0582 right_pitch=-0.1084 right_roll=-0.0763 right_gripper=0.2044\nstate[joint_eff]: [-0.0889, -0.4991, 7.2, 1.8046, -0.1148, -0.0757, -0.0171, -0.212, -13.5179, 8.4991, 0.8181, 0.6569, 0.0366, 0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0525, 0.9982, 0.3046, 1.7596, 1.5639, -0.6357, 0.2646, 0.0925, 0.2082]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0845 left_pitch=0.1268 left_roll=0.0672 left_gripper=0.9982 right_x=0.4742 right_y=0.1044 right_z=0.2049 right_yaw=0.0157 right_pitch=-0.2376 right_roll=-0.121 right_gripper=0.2082\nstate[joint_eff]: [-0.1162, -0.7453, 7.159, 1.8242, -0.1197, -0.0464, -0.0171, -0.1983, -9.4701, 10.2769, 1.4725, 0.0708, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5909, -0.6388, 0.2409, 0.0738, 0.2096]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0847 left_pitch=0.1268 left_roll=0.0669 left_gripper=0.9982 right_x=0.4794 right_y=0.1035 right_z=0.2119 right_yaw=0.0337 right_pitch=-0.2265 right_roll=-0.1124 right_gripper=0.2096\nstate[joint_eff]: [-0.1436, -0.6632, 7.0906, 1.7949, -0.1294, -0.0122, -0.0171, -0.1026, -9.7162, 9.4974, 1.5604, 0.0952, -0.0464, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36bd9bde6343ba655aba1a12a262b4f2554d8c3deb4df0530b7ec0e913396abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc81422de43ad8b354a16cdb2935476ee87db2084d8801ffdc72af61c5ac7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701904b9f939a3d14b2bed9f66a9cf0b2b8355f9eb31b6db779247aeb4e5a539",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNxoASuxc_D1RVmkc2kXegzeSWWqfzR8BRbfLrwN-I2rwDFjepWu-tSmX8dXnG44O-yaZQCGKfCrOuzTDzeP29r2l-XvPta29TTuqjJwJaxaYepc3XpdJNQF2WYIRgQ7eI32doszYqkhvN7VOLJbKyjegTaUfXXd6JNYb8G4Xvst8ar2XiQ6jlwteMTXTk_9qjeRiK3_SqzHz9F1eXVyKzIAU5ZQZwLfMjEqMlc1k-Ei6-s_JDN-RXMvdzulSufxmIkbrGUd-XTY7hHjD4Oe83UqFeyfEpghrSqIYljI0T4Ajx1blMTreBaZ_TM8N6we0qwqYRppGOunKF6bNFSEIq44Kgw_6Jl9umkCvxXDZ1heo8zhYYBJpk4cJNltVQttn14iauRcSuJ8jMKRRjeBptdb-djhBwEiQIU3pAh9FTrB5De34k1hsgPx9ZIcZjRGG2a80GRhBnNvaRTS68JXSrmWEv0g1uIwzqc5Z7QMVWic0h9ZrePnwyjHYQvfEGLCQpoNgsdgDT8ezjDHKCWQl6bUa_mDLBQp6V3Px8cBWp4mT9DpegGkm9ROnkx-VGuq458j2Z01zp1C4unXnvNSH7pSH-0Cp4G_Bqg0VU6C4gQhVhdmLgRnO7sA8vA1GtRno_8CIXTsxgwILuGLgnjTNQIBr_z8P7CkPdDC_d-n8RT6deiLcTSRDy6WhIbT8bFt5nhmwD1LrFdSy4I0ophjFpegAwKD5X_xZFtknZaW9EtL90tE6atc6VTs3l4oQ-zg7tbbFjVt9FEbGp7Z4zr9lyKe5mc70MPLw5uXViFJRsMaDOfYNuMN5W8zSYpMRyDoWFrbe95sZUizlqGvbvquQigTNmHCNdrxWrzvUIO_WeW2iqq4QKxz08KKB0ntABKvXf3Ua2poqwhNkvzCm6PiPIPR__eKjM4-MAOUjizsJvZuRUZmyJsCoe9NveJXv6xZzAYzIWdnxELqvEdJQN28efeVeUw626v5iLpS8JNwn7gwnMDT4LP7CqNLG5OwzUnm4NtjER6KksuyMl1C0natOwTCJd8jNInqqohV5GHObrJqpm8YkuWCLRw2uGXrGfGal1ge0vz41oIMx1x7UUeQtvG40-xdKiJOjDlZpbQ7p5ydj4fEFXAxN5rUdW35enOuAmX8OybRupyjVaZELoVnuOkONkLH8-wNgvmv52s4wd-9PJrKQqyd8lW4H8aXxkejVBWCZqXg9akkmzY2PrUbHjFCV7THlSdUQeWfbJeKSaWK_3S_4-i1EqLgyLcXYL4KMfoKXxj9Amkp3jTSteyAt-68g==",
  "id": "rs_07d29d1e2f1cf04f016ab42370005c87d08ddc1410d3184546",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The commanded descent stopped short while the plush was already against the basket opening, so I won’t press harder on the rim. I’ll release it here and then withdraw the gripper to check that it stays in the right basket.\"}",
  "call_id": "call_Ouv8FrzOMHaK817MGPOEtgmb",
  "id": "fc_07d29d1e2f1cf04f016ab423702d4087d089c7a0b51853b18d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ouv8FrzOMHaK817MGPOEtgmb",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2501, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5894, -0.6388, 0.2375, 0.0658, 0.9949]\nstate[eef_state]: left_x=0.2898 left_y=0.0091 left_z=0.1862 left_yaw=0.0847 left_pitch=0.1264 left_roll=0.067 left_gripper=0.9982 right_x=0.4791 right_y=0.104 right_z=0.2111 right_yaw=0.0409 right_pitch=-0.2291 right_roll=-0.1161 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.5538, 7.0906, 1.8144, -0.105, -0.0659, -0.0171, -0.253, -9.2923, 6.9265, 1.5018, 0.1099, 0.022, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa01bd556d375940505ce7ab8fcb158b47a2d6f97e460f3ae7c6a59409ddafff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194caf81160944024de287115162ca22866cc91b850aa35a8182b9195b9ebd60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b08b5b3d94b8a9ef669878f00c65fbf516b2f715618141e52324c3990b86492",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.6865, 0.4915, -0.247, -0.2245, -0.0528, 0.9982, 0.469, 1.6463, 1.4052, -0.5659, 0.3706, 0.2047, 0.2067]\nstate[eef_state]: left_x=0.29 left_y=0.009 left_z=0.1873 left_yaw=0.0848 left_pitch=0.1309 left_roll=0.066 left_gripper=0.9982 right_x=0.4328 right_y=0.1516 right_z=0.2056 right_yaw=0.0334 right_pitch=-0.1804 right_roll=-0.1039 right_gripper=0.2067\nstate[joint_eff]: [-0.1162, -0.6359, 7.159, 1.79, -0.1343, -0.0269, -0.0171, -0.2667, -10.6188, 10.2085, 1.6386, 0.0366, -0.0122, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5909, -0.6388, 0.2409, 0.0738, 0.2096]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0847 left_pitch=0.1268 left_roll=0.0669 left_gripper=0.9982 right_x=0.4794 right_y=0.1035 right_z=0.2119 right_yaw=0.0337 right_pitch=-0.2265 right_roll=-0.1124 right_gripper=0.2096\nstate[joint_eff]: [-0.1436, -0.6632, 7.0906, 1.7949, -0.1294, -0.0122, -0.0171, -0.1026, -9.7162, 9.4974, 1.5604, 0.0952, -0.0464, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2501, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5894, -0.6388, 0.2375, 0.0658, 0.9949]\nstate[eef_state]: left_x=0.2898 left_y=0.0091 left_z=0.1862 left_yaw=0.0847 left_pitch=0.1264 left_roll=0.067 left_gripper=0.9982 right_x=0.4791 right_y=0.104 right_z=0.2111 right_yaw=0.0409 right_pitch=-0.2291 right_roll=-0.1161 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.5538, 7.0906, 1.8144, -0.105, -0.0659, -0.0171, -0.253, -9.2923, 6.9265, 1.5018, 0.1099, 0.022, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa01bd556d375940505ce7ab8fcb158b47a2d6f97e460f3ae7c6a59409ddafff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194caf81160944024de287115162ca22866cc91b850aa35a8182b9195b9ebd60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b08b5b3d94b8a9ef669878f00c65fbf516b2f715618141e52324c3990b86492",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCN3lkWEQ9vxEAc1z-_C1ieqi2xO046QtRamFlY4I4CLbfwefAuEZyF5j44i3A6NJ5M7HmoHeta4GjxJ4BwdmsslAJNVfs6yRaJDWnrzjDAx0tcQntkob-nPsnjoFT02XutxxdbUxNMXsi87wFoqlmnHctl_C4ZhbXHuDqRhmeooZbpd36S0Blkv5FGKGxipdqTFfMTsqkaPWkasNBlTpy01USnXd7OZGzjsZzPz5Yo01qm3yA_iuc_Ht_Gx4z6SHzypPugfbkAloaO5uCXMLsJhphCfmHa1XwWTZo_Zwi7nbOSnh75Xn-7lg0zvO5EkwYZPj1-C9ZyH-WNOfntXs4kTmnH2VMTXCOZsrinjt9BH32xxOn24-jeFZaMyscOqfYzOjp27YR8Ndy93Xz-lpYlCbboOCejczIDfrgVjbuT55TsmgPdDN6_RZwf4yDCz0u-IGI9z0uHrvrQ2yYkZcvodQlXo5ytrNLiaafw-Pl9FoJAblTit1s9V5x5ar5TFQ4RjaWtLN61kvTiQqDOdBrZ2h8_GVeehicXpZXrsVEU9_AwDT7V2hj9QT9D8frmE0lC6f9epf7xXVkN4KDOZIzxGPtENwQu3iGVqkjVN4H79uUQHoB2OZCnsJUXsyQgmCb_JYH4DiiLq40apmX7MA95ofTJeD3mzuF20vKNYvH5D6ZiI7naOpjeMcLjVppFldcG_fOVMAhmhOlsmClL6FLNIjIvkIMAe2xyj5u_QeBvbrja6YmMhWxcM-fJHrypzkbRi00qTzljJzxyOnxiRnHkMJDervbG4KQdQbqUdsg1wJnqwqKVSNGeYXdGXZDP1OruZIEqmw459MMoh0YpZdw5BNYmZZPI9qTApsTLY0NSweb9aV1o-EebD0kPq78Tn8DDy01tblWxtCkXOQvUoNY6fwezIS8FJyftr1A-0viS0wdh8s-fvX8Mub-I9HoLV9tBgt3MUdzjRHfyE5UcTFIsOSL9j1KkQbtWLSRzgQi-RqNRFsM-W5jpjD2ygOzDQBBzOuPxMqD3nyMqHeSSH-fI8PxPW__0wTBaogWzqAGKl4fwSDSn4rN28zWHSmGGkDP3XABzu7ENZ3NnAeVsmN_tTOcaw_PSKDadkpPuEBkDfpscFBPl7d0Fld7OgtX6elQkJADGhS4Z6FftWxvItpvlqIzgPpGV8zPVyyhIOLmBE-sRx8QHl233optwp6m81r9jvzCSwpzm9NgWfHkUIjfkEaXJ3qSqFvxK76xys0iqEFvRXSFkE2OvO3kUD4DgQViB4V9YVOR-3QLXIQTfYOTUTOW2838bCniexaEWTLqpQqjYBhN3gjIOfYlVMdV6znESTmLM03ArdD36gUuYVvPNENc49BsREfiOOAz0Be62OOnk4aZ88_3EVt5-fBoHMKIZvqMiSRSnPwUsUBfzOlUpwI8oBqsa6uHuSqal0oTVXYM6D3f1krzdzqL2Bgp89j2-WonpnyN4FzKCmoK9KCDpLNTyAfshRqPnoAjwH-aLfankXXymBuN313fjcApJPvnVWHtTx1rQkJwuwXoqwWy0bxezhCsF8DWBOJZeTo63BWnm0UpQx58jApzLbC__YFNWs-_8ZLKN4bmLyxxmhdh1e-ZaBPwtg9405W_Nh4a3D1XzbcNNzxUVKIu0qHR4oNSMeNnlT0RvpwgQSa-md-lcciCjqOL_Edw2eKj940Ztc0_7QM_9pomvj_Sd95Tel5REbsWmLm2zx8bRp9U5EJvKOXK_3cKu04gcxoBRRrzTq4TM6RziiBP_z3_H2cJGui_j4YqpmnEN-09LBAk4Etxgv7G4J8xRPM52K34pzR70HllWUnm18BEfjdWKBR8ZdAsoZei5MiQH7-bve9E-XtsdYU1ZfdBcmQ8QneCwQsLMFPjNZUTyYMSrF7COjz1Qh36-s8dwH0e6g2yatjbMMKVJcq8HA3zsNx01Zy8BCXU6LAkIuQXpE94qrew30i6YmTziXF7byH9SJO-0Av_4qTagaIzvBLT-S5uOqADpX0APNbiLmixsSekL1nYKr2sFGssUxlRlgPwkZmKZK9OxaHUDpoOt5UODjerFIsxJfqTb0kJ484u9Bw9nWHNIyDSrI2Poet_cV3SZ5aJWog2JuRSy7aC6vOHUSSG9Vx_NPj7SUVlA=",
  "id": "rs_07d29d1e2f1cf04f016ab42372d3f887d09c256f2d47b014cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.19,\"left_x\":0.33,\"left_y\":-0.052,\"left_z\":0.08},\"note\":\"The tan plush is lying inside the right basket after release. I’ll park the right arm and bring the left gripper down toward the gray plushes on the left, which belong in the other basket.\"}",
  "call_id": "call_LxwbrwgHzOolpVmkXBpJn6Z0",
  "id": "fc_07d29d1e2f1cf04f016ab423764cc487d0a4f1476ce248c7c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LxwbrwgHzOolpVmkXBpJn6Z0",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.2667, 0.2752, 0.437, -0.4732, -0.1921, 0.9982, 0.0593, 0.981, 0.8719, -0.6682, 0.0914, -0.0883, 0.9962]\nstate[eef_state]: left_x=0.3254 left_y=-0.0522 left_z=0.0722 left_yaw=0.0634 left_pitch=0.0719 left_roll=0.0908 left_gripper=0.9982 right_x=0.2989 right_y=0.0052 right_z=0.192 right_yaw=0.0196 right_pitch=-0.2162 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -4.2735, 4.6838, 1.8828, -0.3346, 0.0024, -0.0171, -0.294, -2.3726, 7.0496, 1.7216, -0.1734, -0.0317, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8684827fad8571384ae8dc42fd0bea56e504be89b010bb1242a579c6a8ac12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc82bd5b20bb194a9f7e39b56af667455f85f0e3e0c705cd8a0d0acb61adeeab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f5d7e8c0868b7c23a6776711a4f196f67448bcdfbb1c899e45a2df3e61e9f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0525, 0.9982, 0.3046, 1.7596, 1.5639, -0.6357, 0.2646, 0.0925, 0.2082]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0845 left_pitch=0.1268 left_roll=0.0672 left_gripper=0.9982 right_x=0.4742 right_y=0.1044 right_z=0.2049 right_yaw=0.0157 right_pitch=-0.2376 right_roll=-0.121 right_gripper=0.2082\nstate[joint_eff]: [-0.1162, -0.7453, 7.159, 1.8242, -0.1197, -0.0464, -0.0171, -0.1983, -9.4701, 10.2769, 1.4725, 0.0708, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2501, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5894, -0.6388, 0.2375, 0.0658, 0.9949]\nstate[eef_state]: left_x=0.2898 left_y=0.0091 left_z=0.1862 left_yaw=0.0847 left_pitch=0.1264 left_roll=0.067 left_gripper=0.9982 right_x=0.4791 right_y=0.104 right_z=0.2111 right_yaw=0.0409 right_pitch=-0.2291 right_roll=-0.1161 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.5538, 7.0906, 1.8144, -0.105, -0.0659, -0.0171, -0.253, -9.2923, 6.9265, 1.5018, 0.1099, 0.022, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.2667, 0.2752, 0.437, -0.4732, -0.1921, 0.9982, 0.0593, 0.981, 0.8719, -0.6682, 0.0914, -0.0883, 0.9962]\nstate[eef_state]: left_x=0.3254 left_y=-0.0522 left_z=0.0722 left_yaw=0.0634 left_pitch=0.0719 left_roll=0.0908 left_gripper=0.9982 right_x=0.2989 right_y=0.0052 right_z=0.192 right_yaw=0.0196 right_pitch=-0.2162 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -4.2735, 4.6838, 1.8828, -0.3346, 0.0024, -0.0171, -0.294, -2.3726, 7.0496, 1.7216, -0.1734, -0.0317, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8684827fad8571384ae8dc42fd0bea56e504be89b010bb1242a579c6a8ac12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc82bd5b20bb194a9f7e39b56af667455f85f0e3e0c705cd8a0d0acb61adeeab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f5d7e8c0868b7c23a6776711a4f196f67448bcdfbb1c899e45a2df3e61e9f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCN7z2mQDfeV-q3ctFb_T4M3203x6R6A2vHdO0x9Vz8aklDmlYsnrTMqglzcxhsS55n6M1rq6klE0lPEtmwnrKN79GLaEk2yIFhXAGkX36N90pmatSGn1uj9PaE11IfEeNDlIv1ZPMvtykIUdtSj8KytFQqtm7-nx5Pfj7D1aMbauOmngNlEX2_R640SMf10noWQjt0M-g0gjMQaEbF7gYS1k8sLxpD8LhzrYcNS6faETkP2cf22Hm8O0pVH1Rqc4NNwkfNW4BAO567mpZ4wbRvdxhcefTu6xeNqt0q6pRMTp-kHgpZCxmG6mj7LiSQIpUXMMIZUzOanirt1ztkT5pEJ4w3ywyroRb1iuqnjZ-KEYAie4bEW6wWkfdy2uOpZzDKcMPKwBkAJ4n3uVjzV-XtrR9dPnMde0Gm6BRkgjaYTNiSd-2lhJb1NtDzhkIZLWjpa0QIvel13uUq842xzW-pCYZvoy1fsn0xpnPBLuG0JYUD6JKXFkyMCan7Kf4pNWSKyINxo9kkoNXmn1lBQqdNRBTV3datcU5jsStYfcPlzEMFxPBqY97rKIqqpKbvz2sJWZOFBIkDe4TmLfnNco91Jii6A3xVIIf0tz2hdNUM1HSmG9j1bQcMq3oCWEpqR5gdgwRf7ZT7j2g7G7rcmcvXTOM5hHVfpIu0HG80cjs_UgEEJsJ6g7XW8Z3Z79Yj8O7Z-mjf1t5EHH7_88s7EhgASkBHMoeRzQEkelrkqPS3GmDt0JN00xK0Uwuw-UcjSs8uhdDcLezgh_lAouzeKccNn43amDWoKGNoZAwAbuUZQFe9Pm98UUddqi0YPHVfqRopWJXQLGbL7ABIK-4D_5gWYg24RHM1bmiG9UXRrpjBQIxC-X3lpeZy1rtXyGXc0SiFcRrdUvcmJ9KZYXNNgCPgPFbom-BiGcwuCgnvUMGW-wibTkqTTiMlH0j9rxr-IMtEu6S690BTI_glHiuzxrH5Uv0K3cZ7WYY6R2d-rDW-YyWmql9EEkoBOEHo2ZBLddZoPXi3MxJAANSLeUdFxWKfTMCSHHTDcx162Pnu6XSXmksNsfzsgj7T_GG4X9-E-5PnbqO_C-deX4kmnYFNiuNhDX0HA6WReo5OGC9wmj0H1lUW7LPlvMI_1S8YcnYjmQ1RZlwRBmN8QkAgB3HJUOgmyqR5QWU4GnAUXCmO1Ou4jvf7bZtQ_LrG-ztKXFWDyzbkSosU1LRUcd91s5jobf1oAM6UEhbN1BccFd4ml8pTixDGYFUI6f4xSqHDkhea3hwzh2OQ8E4trN5YeSiSa8XJy8QAEp2nULWhTRgjljrt6BxA0P32vh1ThQDlKg8WyUfPlzHBglZKjrO7ayaxr8JMJVIj-v1N5zTOv3ksuicyD0-ADDgusucYVh8iChrA9eXn1ScJvRXRES6FDhHDRPgqaIEd5UIvax1lA7Snqzfb098FVJYTeUUA35lIOWDb4vkZXSsFuf0nFIK4fHktfjeHOWTj1hplUjRr98EcwTP4dZ4IoM4ZYFS-b2pdRYkpt_tqi_qKSNz_h7M_LVYSXxvP03PnQTSudKiZ5Q_2unfugXnIrWoKQiB-IU8JKmonwqjvYg5Zvh9-8nk91Uqkh4klt2-d6jFtoNO-fOMcqbMRQNGIMLEtcDJGxzeeJ0qk87hHYBHthSjEmc2bPcxPXMlvdfASBQjCPun3A2vsjgx-hQE698E0qtXN2res-6GWNYcpsmGH_j9nh9vVXKvfQPhQPGYdhLH6MxgK0VVVUzbHvxEE=",
  "id": "rs_07d29d1e2f1cf04f016ab42379c57087d0a2485811dc06f24a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":0.005,\"left_z\":0.045},\"note\":\"The left wrist view shows a gray plush immediately left of the open jaws, with the left basket just beyond it. I’ll shift the gripper left and slightly forward, then lower to catch the plush’s body rather than its edge.\"}",
  "call_id": "call_nGwRzI9CFAufXH04eRCc4VLj",
  "id": "fc_07d29d1e2f1cf04f016ab4237b218087d081e3c897bc5c6c9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nGwRzI9CFAufXH04eRCc4VLj",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1078, 1.5047, 0.2596, 0.6964, -0.2455, -0.0555, 0.9983, 0.0528, 0.9871, 0.8627, -0.6785, 0.0776, -0.1043, 0.9964]\nstate[eef_state]: left_x=0.3469 left_y=0.0093 left_z=0.0367 left_yaw=0.1116 left_pitch=0.0287 left_roll=0.0959 left_gripper=0.9983 right_x=0.2963 right_y=0.0055 right_z=0.1845 right_yaw=0.0336 right_pitch=-0.2431 right_roll=-0.1188 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -4.7658, 4.7385, 1.9414, 0.0171, 0.1245, -0.0171, 0.294, -2.7145, 7.5145, 1.5995, 0.1441, 0.1392, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9694894b70c642684f867d749184fbaf4a91731aa6b63e907b8dd050b2d88f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1ad498c54e8e10ecfa7433e5aeb84556fc5fefbdd7522a8fc24017ccfdffef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc68961817ca6c31e7a00c9a5be0a74e59d12fb01c3f0d06fa379633477a5c2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2497, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5909, -0.6388, 0.2409, 0.0738, 0.2096]\nstate[eef_state]: left_x=0.2899 left_y=0.009 left_z=0.1863 left_yaw=0.0847 left_pitch=0.1268 left_roll=0.0669 left_gripper=0.9982 right_x=0.4794 right_y=0.1035 right_z=0.2119 right_yaw=0.0337 right_pitch=-0.2265 right_roll=-0.1124 right_gripper=0.2096\nstate[joint_eff]: [-0.1436, -0.6632, 7.0906, 1.7949, -0.1294, -0.0122, -0.0171, -0.1026, -9.7162, 9.4974, 1.5604, 0.0952, -0.0464, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.2667, 0.2752, 0.437, -0.4732, -0.1921, 0.9982, 0.0593, 0.981, 0.8719, -0.6682, 0.0914, -0.0883, 0.9962]\nstate[eef_state]: left_x=0.3254 left_y=-0.0522 left_z=0.0722 left_yaw=0.0634 left_pitch=0.0719 left_roll=0.0908 left_gripper=0.9982 right_x=0.2989 right_y=0.0052 right_z=0.192 right_yaw=0.0196 right_pitch=-0.2162 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -4.2735, 4.6838, 1.8828, -0.3346, 0.0024, -0.0171, -0.294, -2.3726, 7.0496, 1.7216, -0.1734, -0.0317, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1078, 1.5047, 0.2596, 0.6964, -0.2455, -0.0555, 0.9983, 0.0528, 0.9871, 0.8627, -0.6785, 0.0776, -0.1043, 0.9964]\nstate[eef_state]: left_x=0.3469 left_y=0.0093 left_z=0.0367 left_yaw=0.1116 left_pitch=0.0287 left_roll=0.0959 left_gripper=0.9983 right_x=0.2963 right_y=0.0055 right_z=0.1845 right_yaw=0.0336 right_pitch=-0.2431 right_roll=-0.1188 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -4.7658, 4.7385, 1.9414, 0.0171, 0.1245, -0.0171, 0.294, -2.7145, 7.5145, 1.5995, 0.1441, 0.1392, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9694894b70c642684f867d749184fbaf4a91731aa6b63e907b8dd050b2d88f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1ad498c54e8e10ecfa7433e5aeb84556fc5fefbdd7522a8fc24017ccfdffef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc68961817ca6c31e7a00c9a5be0a74e59d12fb01c3f0d06fa379633477a5c2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCN-0JlUGtA9Z0zDqNQeCj2uBvOiHIav-7wL5vhrMF_NPyqJJmxQ8pAZ2TD3nc082S19FRh9p_bQuGM46HVYJi9NonCCuXqQbOFhBCwATpS7G9d-IaXt-9Ia2gYebqQsMc8eW8oFAVS78hIIww-glBXwfuskHGPsKp5WKOoIaCoHZwgxeXNV5zn9pJZYvm3wxxcsbKCct7vr2UPEQbu54ncggZNe4jJ4T3fx7xU3uAtuEcSnj-w3C6CVV7L2mgv_NKXw4lZG6u-25iaUSF2rJ9fKp-oC-RsnxnOF3C0ghJqDNPr348COBHD3KhqA-9u5HBPOLtYPOFimEuIKaiRinJSeqPJeKtXxfzSScz6nHK2W3g4Kh5eq2n1JSq9CVGIQw_cjJszWn7ecsfqNX1hSTXS2Oo0PjwLVK1g-gdBfVHPcX2ABSHhBj9kvlCsdexLbxUM_SfR5aqFuUBB4WbLqrmoD6s-8qRkMXSJaUdgBevQPJkOiaOi_xIr0h0NF2AU0Dkzf0HIQfrd8zm0PN3rJ-H1_hu7pkri22H50pXTpqS3z98qJwAi4oaPVM6TglpPhjSFAFCdW7iSnHdFD3XmA7AV9uF4tZks-aru0-iT7yf4MnhrHoG8EPPqAr5VmZgg-fvMPZ168r_LjFaL4zo8DBXW2v4HqRDkVJoARL6UPyTuTgZ_d3_HEJYol3cgygjfrdnTYzYCKBGZpNKX65zGt_qWeF8xqcjUQhqE7_HWxoIEeOEYSyjIxuzag0b3ixUQ19IdNOFP5nD-6gNSQyUitF6kkjEtQu9aSUV72tAjegbkSdZr9ggzQrgxhaGx7q41bm7WsM1KOUbLAVHbL4k7iLVuJuk3GDD7Jkwx-moQ_hswcv0GJJsXJYeZhusSO7vIXNOWNGsNuPkfeVtskh_Kd9pY1d0rJNEvFK0U8Es8hlHZqeehfKmBoi9QXDgFyWatrFW1qJzNqFxlCTx5UHLtwhGmF3w_hN6T4mFl80XF_hrjSJEXZEwxJcGEh_JoLDqhv0svXfVQK0X3fNdpOOWswastzVF7Z05ILPp68tX5f3awYH3RHCwWP3fCiQ4Va-n1sWZOY9GISzDIu9oYPJVsEjJx2d-dVpq7HsKCVrTimXtHYlMbNbFGDbiQuU5wJSsD1miNn87CAWfo2EfW9oFRZm6SZPw9jKAwRhY4ljXCAIlzse3vGJoURozbgrSoAoiSxEYOLMGCE4KiNB9NW2LSV2w1_YdhA1nT39SDatRSQUxaosxO880UktAAciyPeAmx9aV3aK81NHyUPnWiwwKfAitJcyrpVQ7Quz1-3qj4nXnyKz2cSQ38cWQsKJ2mqit5_xDfp-fftDkrDxeyA_8yqMHBJG8eAyhf4HDr0PvyiZQbljRo=",
  "id": "rs_07d29d1e2f1cf04f016ab4237d9c2487d0be54690f57e0c76b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now occupies the left half of the jaws at table level. I’ll close gently and use the settled opening to tell whether the plush is actually caught.\"}",
  "call_id": "call_Vk2iSeXXhbikqPLITwc5TzF0",
  "id": "fc_07d29d1e2f1cf04f016ab4237e156087d0bfa2ccb2f53a5f3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vk2iSeXXhbikqPLITwc5TzF0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.5204, 0.2596, 0.6956, -0.2394, -0.0563, 0.0126, 0.0521, 0.9886, 0.8627, -0.68, 0.0761, -0.1055, 0.9965]\nstate[eef_state]: left_x=0.3457 left_y=0.0082 left_z=0.0314 left_yaw=0.1065 left_pitch=0.012 left_roll=0.0956 left_gripper=0.0126 right_x=0.2961 right_y=0.0056 right_z=0.1838 right_yaw=0.0348 right_pitch=-0.2462 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -5.9556, 4.588, 1.7314, -0.1245, -0.0269, 1.0818, -0.1162, -2.4821, 6.8034, 1.5067, 0.0073, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167afabc448637730b78fc161230d5a35fbf39ce55573431e2303f58771bc58f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d47eda6c749eb27c5b550251366a06f9490ab077f5ea17c0f090f7e59bcfe00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9117d121a9e28fe86589f3607f4f5ac129fa77715056b23ca1aec12e7f6792bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.688, 0.4915, -0.2501, -0.2245, -0.0528, 0.9982, 0.2913, 1.766, 1.5894, -0.6388, 0.2375, 0.0658, 0.9949]\nstate[eef_state]: left_x=0.2898 left_y=0.0091 left_z=0.1862 left_yaw=0.0847 left_pitch=0.1264 left_roll=0.067 left_gripper=0.9982 right_x=0.4791 right_y=0.104 right_z=0.2111 right_yaw=0.0409 right_pitch=-0.2291 right_roll=-0.1161 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.5538, 7.0906, 1.8144, -0.105, -0.0659, -0.0171, -0.253, -9.2923, 6.9265, 1.5018, 0.1099, 0.022, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1078, 1.5047, 0.2596, 0.6964, -0.2455, -0.0555, 0.9983, 0.0528, 0.9871, 0.8627, -0.6785, 0.0776, -0.1043, 0.9964]\nstate[eef_state]: left_x=0.3469 left_y=0.0093 left_z=0.0367 left_yaw=0.1116 left_pitch=0.0287 left_roll=0.0959 left_gripper=0.9983 right_x=0.2963 right_y=0.0055 right_z=0.1845 right_yaw=0.0336 right_pitch=-0.2431 right_roll=-0.1188 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -4.7658, 4.7385, 1.9414, 0.0171, 0.1245, -0.0171, 0.294, -2.7145, 7.5145, 1.5995, 0.1441, 0.1392, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.5204, 0.2596, 0.6956, -0.2394, -0.0563, 0.0126, 0.0521, 0.9886, 0.8627, -0.68, 0.0761, -0.1055, 0.9965]\nstate[eef_state]: left_x=0.3457 left_y=0.0082 left_z=0.0314 left_yaw=0.1065 left_pitch=0.012 left_roll=0.0956 left_gripper=0.0126 right_x=0.2961 right_y=0.0056 right_z=0.1838 right_yaw=0.0348 right_pitch=-0.2462 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -5.9556, 4.588, 1.7314, -0.1245, -0.0269, 1.0818, -0.1162, -2.4821, 6.8034, 1.5067, 0.0073, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167afabc448637730b78fc161230d5a35fbf39ce55573431e2303f58771bc58f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d47eda6c749eb27c5b550251366a06f9490ab077f5ea17c0f090f7e59bcfe00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9117d121a9e28fe86589f3607f4f5ac129fa77715056b23ca1aec12e7f6792bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOC7ATT3BzTYsE7D1t_z1fAOLyI-wwmciqrzetEJiW_uakNSnGD86H-kG6DLidN48SvE9nLzaQIwe3YZ0nqAj7Fmxi1cXsLFXJu9pnGHMIgJ4qk8FnVtnxI2fhdYcBUxlncGGH5vKb0JRiWVVWYfTaCKKQ7qPmLjuo0UyypqgKlquMxtVFqEwf-z2PSCgzPD7RGLgbfJQdeVPYPwMDHr7YCkhxjHWt_rKknShE4OwTODezydunYLGjEzRcHnJaKm6M0qipQ3FveYDdwylUcTBw0R9HqM40az6fhBcRFgBj7a-XZU_9_zoD1yEp1QOXeChFiHD5mnNwuL9_5uUeunm68Y0_lE3SWEQx4ql7jQqg0mEw9SdIPbYKvmxagSdQ0w8U1ZtiX0oP5m981JK0cccFM1R4SlV4CuEWd7rCCH6fSKT_VEfOd0L7BabUC-o52M6Boa3bdhNFN6NYK8oT0tzCClOWGy4v7sm6D36NkcHumNv8F80_b-S3d89KfpdxoCle-QYVAr7-che-fTtVUifOWmMTaXHDblnVe0kxrNcSXy5gz74Nj_M6_WpSrjDOArNxcMu0J_NLKU-tGOjd9JCqaFmtCBw_xthspgMHGzzXExUMDB58RUApakQuNmo6x8G3SaECLlWraRzMjEC-4tmVFNxtPoQNEaGWJLi4zJHnBMYKkDgzshSNm4Sf38tAvRJXV2tJCmDMoXLblqI-LbR2232SvzFoZlITl6SvN_T5XfDGNqUHmTffB64_N1EYJMAVyf_oYlTFIqLAM0opNN_SgvG0Xf0CQWdQz5o9x-zzKtEbPvU9UdMAKnzxFzcFCAEqO194uO5RPAu33cvkQIOREjF8MY1HQfUGyyyB6GStRpTrTRk3EICfsIShZFeCj2tpA66G1tnQkZrzSjH0yajMpZ1Rq_hiC1cEAEVHp6lD9HLXBza_mJFJi71IgNA-opooedNkI6cn-16eBzqi9id7Alv4n-QGzxrIOsQKhA_0hQ4A1efXYPxQXi0cBFJGJOXA4doldoAz29HlU95uWtdYBm2T8rQnOKc9a9lVuS0ogn_T0CImzTjddY46EFPLJPOHPDJs3K0UYY9qBADO3Mh5936qOU3hzktOiekUyy--rCKRz1sDhKnPHksTMsg9k4iZYz1XC4Z-SxXF5j2cV82N2bfV5qsRHSx-filHhL9kiHrK1OFYvoIViScZ_vKXjboCLs61bXjb6dAZ9komSS9mB3sMnvCVozDYHbfyplzpjiaNPmyAkEWzuSOqC3Fz9lmPGdadmb2t2iKn1-lFNxqSeACZG1quDta7qVpajfXbRpEILlFpnvdxmZvJbMcxGOfJ9BLPVfZF0WF4HzlZjkcDsSoTjTF4grV7c7g0SxO8d-xsg_TPYfqfN1nv-aZX8mmYEwpRFHc_PnQv0UsWlBcePxuACVf11-bp4NTpSt0G1UN2kQ3xzSwj_fOqApmATRAemABjpzhcOM0QAkkaein0ErRPvLZARlrEoL8JdlqbnOjJw1JU9L9k4csJL8HgMevg6_P1wjXLEPBX6lF3QU4Dzvzxe0nhoOSaev78C_GqtVEiof02AppV-cyWp8xYLMGHVwkkgZ_zdfrhi3nVUlv703E86q-Efno0CrLbgdGPBwKp5sPXOgNGgWaLTbeFtWxYQ",
  "id": "rs_07d29d1e2f1cf04f016ab42380f0ac87d09c1472c698600744",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":0.005,\"left_z\":0.026,\"left_gripper\":1},\"note\":\"The jaws closed fully, so this attempt missed; the gray plush remains in front of the fingertips. I’ll reopen and move about 5 cm farther forward at low height, aiming to place its body between the fingers.\"}",
  "call_id": "call_2nAfdLfqVbL6pFbKcu3UIr1j",
  "id": "fc_07d29d1e2f1cf04f016ab42381b43087d08408e92425b711dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2nAfdLfqVbL6pFbKcu3UIr1j",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1028, 1.7145, 0.4171, 0.6979, -0.239, -0.0601, 0.9952, 0.0521, 0.9894, 0.8616, -0.6807, 0.0742, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3841 left_y=0.006 left_z=0.0174 left_yaw=0.1136 left_pitch=-0.0214 left_roll=0.0995 left_gripper=0.9952 right_x=0.2959 right_y=0.0059 right_z=0.1829 right_yaw=0.0366 right_pitch=-0.2489 right_roll=-0.1175 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.6274, 6.106, 1.9609, -0.0415, 0.0562, -0.0806, -0.0068, -2.4547, 6.8444, 1.4774, 0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c6871cb6d3a75fe3e1f3b6faf267f9fd91fcd0641803116bae3cc5a7f7afa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd19c5f6639db8a7ead2a40bd8873141a38bfd3a88ba803c8ef38d31af2f898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68e9b4d5f007c9fe648b914f941b35540b068c991a060cb36130b8e021bb742",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4171, 1.2667, 0.2752, 0.437, -0.4732, -0.1921, 0.9982, 0.0593, 0.981, 0.8719, -0.6682, 0.0914, -0.0883, 0.9962]\nstate[eef_state]: left_x=0.3254 left_y=-0.0522 left_z=0.0722 left_yaw=0.0634 left_pitch=0.0719 left_roll=0.0908 left_gripper=0.9982 right_x=0.2989 right_y=0.0052 right_z=0.192 right_yaw=0.0196 right_pitch=-0.2162 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -4.2735, 4.6838, 1.8828, -0.3346, 0.0024, -0.0171, -0.294, -2.3726, 7.0496, 1.7216, -0.1734, -0.0317, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.5204, 0.2596, 0.6956, -0.2394, -0.0563, 0.0126, 0.0521, 0.9886, 0.8627, -0.68, 0.0761, -0.1055, 0.9965]\nstate[eef_state]: left_x=0.3457 left_y=0.0082 left_z=0.0314 left_yaw=0.1065 left_pitch=0.012 left_roll=0.0956 left_gripper=0.0126 right_x=0.2961 right_y=0.0056 right_z=0.1838 right_yaw=0.0348 right_pitch=-0.2462 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -5.9556, 4.588, 1.7314, -0.1245, -0.0269, 1.0818, -0.1162, -2.4821, 6.8034, 1.5067, 0.0073, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1028, 1.7145, 0.4171, 0.6979, -0.239, -0.0601, 0.9952, 0.0521, 0.9894, 0.8616, -0.6807, 0.0742, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3841 left_y=0.006 left_z=0.0174 left_yaw=0.1136 left_pitch=-0.0214 left_roll=0.0995 left_gripper=0.9952 right_x=0.2959 right_y=0.0059 right_z=0.1829 right_yaw=0.0366 right_pitch=-0.2489 right_roll=-0.1175 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.6274, 6.106, 1.9609, -0.0415, 0.0562, -0.0806, -0.0068, -2.4547, 6.8444, 1.4774, 0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c6871cb6d3a75fe3e1f3b6faf267f9fd91fcd0641803116bae3cc5a7f7afa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd19c5f6639db8a7ead2a40bd8873141a38bfd3a88ba803c8ef38d31af2f898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68e9b4d5f007c9fe648b914f941b35540b068c991a060cb36130b8e021bb742",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOHeXnMFymmG3p8L5Qs0VQeOy7ZxB6OAoQRoXkve4Zk8dRsfXxJLdFLXhVPhLTqbKnmwIgdUHhc0miTdiU16FmdRMeELH3b8C9Mxqy3qbfxfo91tAey8oJLvtBZgVv3iPQIpajrK6i2fDFA5N3F-HHb-peXEw_KGeWQPzb08hB-3xdaZ6vJwi8qV2RzI-JyXZulzV2duVIfqqMIrZ1cDB1jFNipjW1WZlVpWyCHDmMIAcBHAeezxgkEWnaLLwNn0K1GSE-AJWMAoE3dYpehyfjkgUnu-3FsCR1ObjrKlYEm7uTwNw_w6qzpJW8xUnfytFaMeKjSUOGGae2TH8UWEqUOFRxMflfg47h9FW9HMpRjxPq70p-vWucezEa1Cm59CXcUwgJvGXtwqNV4GEGV9dpOvJdCP0GHXOpms2sd7ORdW0UVV_2JwIuCarbQQE29FuXBVVoC_8qUamJ5mgC2gCbIThzvj7xs6JCMd_CuIvCyAdgLnzq5_YgmRBZ38BBMOHUgjxjmxa8EqNvNmtCJx7IsA5DDl3CR9mxZm8wMdN0_rowNqTYc_went8xzQ4QO6qNfH5v1ZXc8hRyWLHjdycnEyTomX8hEYF-Yi97c-lu_rV_9HhOSFMY4nBnxP14FoZfVn9snWONmGeCxbtJuLEn4zm3RVrbIwAYRHdqCPaGbEVNmOpajTyk0xIdBWA_c49kMe7k7GpVKVDWDuj_vIlS13DH-n9_-FRMKx0PKZsxMOY0mTZB6UVIww5JSCICpLHl3BwgcVnwMqakvm11V1DyqtmBYNb75j0XtpBKsqYj97iM6BRsDLdLb9ANjPqtUGIDMOhhJ7je9fDqaAXSkDDjzPC2AOUpXfQxgTR-nPu-ZXlFsRXCP2aaSbWI5HuI1I4zmDa1AqO2pxBY_7ZPR1wPuoSAVvNte27FBwbmtpNJvJFd809Y-imSGeoe3OXHCKKYcaJyABtHtuNBx21XbAJ27IXnyEKIi4Ya6P7Ujz7f913Jku2NHHRXezJ-IZaOACRaHqt3FwKwJ1rOuWraHIN5eE0PnUjTOOYdaW7pN4oc9mlHoLjXTONXAwSBqBfUquVgG4yKVEfThcONCxt83ElHgEaWr1K7IXtCKwHvzS_VtpystrNMdvX8cAB_06IO-CHQ5knUtb4PIqe6nrooXFw-TKZcdMdMwqjLx0emVx6BnjclGNQ3uN0f6vWyo_Vz-sSFRaTVm7LMkSz0ULzK9yhgAK-HL-zXXdCxTR5Jp8mMSIxJvx7eAExeMaPvg8S8xyTPT-2P24Rfh_yS7uEUtt9aqaDUiXL8-ekxQ-wpyEPAjPBPkNucLsfrLt8l9oVJeaTCrBC-Cw3b3py2njsMzgoD7VO09u70L3d3OsVBDp8l7THu7hFnv12w05QQgPRpOtOCSnPD-kbEqZBePpy3xEJvhbRO-UgC9KtnlDHBGpG7ErtbwB8aqXgKPNSIybzzUZsFLboMluoFOBeFqa9xHvcn_Xb8bsjQOJp9nCzB7zNH1iZsEX5cNiL4gaJv1nTgLh260N1TF2wxeji0tpLjE39qo_zTTI0Ti0DYvAgQB9nBv7WfLeF6QMQB65Y1AGJvLvX3wTQYTxIN_Vzwen1_QopWZVdyUJzvgoEMjFSgjgVRDoKk9umQj3CvE4CT7PUsjQUe9gIy7sG5KzM8yikeVl30ymC-CYAUUPeg2aF3RACKXf31LqMutTQ7b-hJeih4fyyvzsYc3TIQLL9sH5z4PjkYEVjLdiBZP7C0Eu_5eLQR7mPLACS8If7oSuE82-9pU7hpaQz_195-10AU4SIrIaId2NS7cNz6jn80gfeYWxfw5QKALssdakB-n5ErIhLaq1IpX0qMCJFHioFJaDVYeCzfQTA==",
  "id": "rs_07d29d1e2f1cf04f016ab4238556e487d0ba32bbfa998ebcca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":0.047,\"left_x\":0.398,\"left_z\":0.022},\"note\":\"The gray plush is now closer to the fingertips, but it still sits mostly to the left of the jaw centreline. I’ll use the remaining fence-side reach to centre the open jaws on its body before closing.\"}",
  "call_id": "call_Ch2V94htUZ0xbvckcEgxPNgn",
  "id": "fc_07d29d1e2f1cf04f016ab42386d61c87d08994cfd25f567e19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ch2V94htUZ0xbvckcEgxPNgn",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0498, 1.7218, 0.4473, 0.6815, -0.141, 0.0006, 0.9967, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.39 left_y=0.0479 left_z=0.0194 left_yaw=0.1515 left_pitch=-0.0272 left_roll=0.0946 left_gripper=0.9967 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -5.1214, 6.2838, 1.7314, -0.0611, 0.1001, 0.1392, -0.0479, -2.3726, 6.8581, 1.4676, -0.0073, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb515d6020521ada4ee6b4497c4bb144ff4f2c2f6a41490016d83b3bcd5d75c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a91f4b9d3899a7fa13201d46f4f3e1d8e62cd5b295522a5a13b2685a898223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e09e89d2805211312ccaa4496c2f6a1778b22673a7270ea24c398539fc90b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1078, 1.5047, 0.2596, 0.6964, -0.2455, -0.0555, 0.9983, 0.0528, 0.9871, 0.8627, -0.6785, 0.0776, -0.1043, 0.9964]\nstate[eef_state]: left_x=0.3469 left_y=0.0093 left_z=0.0367 left_yaw=0.1116 left_pitch=0.0287 left_roll=0.0959 left_gripper=0.9983 right_x=0.2963 right_y=0.0055 right_z=0.1845 right_yaw=0.0336 right_pitch=-0.2431 right_roll=-0.1188 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -4.7658, 4.7385, 1.9414, 0.0171, 0.1245, -0.0171, 0.294, -2.7145, 7.5145, 1.5995, 0.1441, 0.1392, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1028, 1.7145, 0.4171, 0.6979, -0.239, -0.0601, 0.9952, 0.0521, 0.9894, 0.8616, -0.6807, 0.0742, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3841 left_y=0.006 left_z=0.0174 left_yaw=0.1136 left_pitch=-0.0214 left_roll=0.0995 left_gripper=0.9952 right_x=0.2959 right_y=0.0059 right_z=0.1829 right_yaw=0.0366 right_pitch=-0.2489 right_roll=-0.1175 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.6274, 6.106, 1.9609, -0.0415, 0.0562, -0.0806, -0.0068, -2.4547, 6.8444, 1.4774, 0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0498, 1.7218, 0.4473, 0.6815, -0.141, 0.0006, 0.9967, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.39 left_y=0.0479 left_z=0.0194 left_yaw=0.1515 left_pitch=-0.0272 left_roll=0.0946 left_gripper=0.9967 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -5.1214, 6.2838, 1.7314, -0.0611, 0.1001, 0.1392, -0.0479, -2.3726, 6.8581, 1.4676, -0.0073, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb515d6020521ada4ee6b4497c4bb144ff4f2c2f6a41490016d83b3bcd5d75c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a91f4b9d3899a7fa13201d46f4f3e1d8e62cd5b295522a5a13b2685a898223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e09e89d2805211312ccaa4496c2f6a1778b22673a7270ea24c398539fc90b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOKY8uY8ManMlZa3t5bSzJjpV-cH0Z-yhwLVuCkeBzRyzO7Nz-m6FROAnEK3OvRwScmCnAKuKEiSUaqE1I37ZTPK1BH4WX2sosPUNkw17hQDV6raLVti-xLmKj561Wk6S7FcqVnqulM8_KejKUn5E47POfi1iiaVwiPLYcY5LlI4T33t5qZuOPaCzCkLTTfqkd2Eae3RfVWlesg9vSPnzq8nGeavvxp4Y94uE_X5b7l-0qN2m5kxM5-AdNiN6nnrRfP7xQ_0hjoQUUZT0JRfQZpFdHR6PwcPRx74xHWPFltm_v_h-eVFXuKZssspqFNzdW9-sgWVXuHyAkfu-kcOPoakPrMSPBLQ9eGwGZr4nb9vqCUPo_Bkt5oyIQA93kB2xXSU7Gj2XJc-82husGHuaJSLzAjAWxF3sdRoCGOBs-GFuSsDRfhP-hkGfswkqHP0zx7XL6IA6tzOA4yt7_GuRSyvN2pCRZfy-2dowLxAAQuuT6sQfQlfc4P-_NeQBzQbJVjw2PlP4Zbqn7vro6Qf9weZilaCt6LaPTDx1TQ3mr3zLaN9lJ_IY7_Y4T1j06kNTUm2J73mUKA2yztor0H50hCXZogZQQzZDdIKtH60k8zmPDjcQSQAD7ThyfNU7hIvRaw3bcdzb35OeADMI62OJHtzKLw3SPvitRVO2xjLTbIwh-62gKmKhv0XWdseT6aU0UYpReNjXX38nq1GYvNAmp4vLRFLBGuWe-sSzXyA5zUAQIJr3XcYJkMWouzOp6hD_kuPC62xdQINc_9yHpjgyX1U7o5TOD_y9sOPNNYTye27PUJhsjAia9qIl4hxbqPTzrS7oP7jmsdJBCMDvYAkx-4ro4QhggobSa8DlbflFkWjnoiz7wKxDZGvuUPpSrYy5r3V7clp49VsFpdwu3hJwp8zNx9ih6XqFzwC-THV29U1mvwqMXkvndcPjGArCVIrHYKE40LreXpEcml7vPtera21SazXzsLO3Lwm4pCOWq92_PCdC9inB5j0TGR3M64ai3Hw4x7pkini-Ahy7x1LlidQl_Y3-fIJ13GkNI71yUwUZOKT3t--QO8l3fxI6ppsOKuk-2YWSaAdTgrLRUZ_aoZ5-z7DPyfnYfSXjJugjGzK3XkgEFZdabFGqyVluWk8TknLIFYUOTq4CQW9D655SppiqIJ6sglYWvEBRZNQw8-1II0O-70DgmdKp-KgOs_F9BoSgrfn4fiYlc7ykxBaBBV2VOt_VdyJLXQGcsDPm1VKc0835lVrcX-n0-PcZLFnEf05ZO6jv2ow2MfcrGNrpM19g6NrFdawGGK4yWvKypbPi4n3Dy3MVIaDb0o01rdUnuWWB2TgmEjAtgbV2NjPB8yBJMjribaefGFvNXQAWW3NTk=",
  "id": "rs_07d29d1e2f1cf04f016ab4238906a087d0be2094593d7eb5e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now spans the left gripper’s jaw line rather than sitting wholly outside it. I’ll close at this low position and check the jaw opening for a secure hold.\"}",
  "call_id": "call_MdmwuS8ADLl0h56gyFycmbNX",
  "id": "fc_07d29d1e2f1cf04f016ab423897c9087d0a65a8f956fb2cf40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MdmwuS8ADLl0h56gyFycmbNX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0624, 1.7283, 0.4583, 0.6735, -0.1081, 0.028, 0.0125, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3925 left_y=0.0472 left_z=0.0187 left_yaw=0.1218 left_pitch=-0.0337 left_roll=0.0994 left_gripper=0.0125 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -6.0376, 5.7504, 1.7998, 0.0073, 0.0171, 1.0867, -0.0342, -2.1949, 6.9402, 1.5214, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8da41f1409a09c51364c49eed9f8597893ab685897acb06359f1ffdf51131c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3140803a9b897836425a1c0f7f6992c8216b13a3a1c0f49ad6a0722e9d0f55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ed3d5cba6f7a6934dbafa4188f853ac530425a9fb030be68bcd8f749ff90a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.5204, 0.2596, 0.6956, -0.2394, -0.0563, 0.0126, 0.0521, 0.9886, 0.8627, -0.68, 0.0761, -0.1055, 0.9965]\nstate[eef_state]: left_x=0.3457 left_y=0.0082 left_z=0.0314 left_yaw=0.1065 left_pitch=0.012 left_roll=0.0956 left_gripper=0.0126 right_x=0.2961 right_y=0.0056 right_z=0.1838 right_yaw=0.0348 right_pitch=-0.2462 right_roll=-0.1186 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -5.9556, 4.588, 1.7314, -0.1245, -0.0269, 1.0818, -0.1162, -2.4821, 6.8034, 1.5067, 0.0073, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0498, 1.7218, 0.4473, 0.6815, -0.141, 0.0006, 0.9967, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.39 left_y=0.0479 left_z=0.0194 left_yaw=0.1515 left_pitch=-0.0272 left_roll=0.0946 left_gripper=0.9967 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -5.1214, 6.2838, 1.7314, -0.0611, 0.1001, 0.1392, -0.0479, -2.3726, 6.8581, 1.4676, -0.0073, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0624, 1.7283, 0.4583, 0.6735, -0.1081, 0.028, 0.0125, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3925 left_y=0.0472 left_z=0.0187 left_yaw=0.1218 left_pitch=-0.0337 left_roll=0.0994 left_gripper=0.0125 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -6.0376, 5.7504, 1.7998, 0.0073, 0.0171, 1.0867, -0.0342, -2.1949, 6.9402, 1.5214, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8da41f1409a09c51364c49eed9f8597893ab685897acb06359f1ffdf51131c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3140803a9b897836425a1c0f7f6992c8216b13a3a1c0f49ad6a0722e9d0f55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ed3d5cba6f7a6934dbafa4188f853ac530425a9fb030be68bcd8f749ff90a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07d29d1e2f1cf04f016ab4238c668c87d0b4eeab6b41c474ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":0.049,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The left gripper closed empty again; from the overhead view the gray plush is farther forward, tucked beside the left basket and fence. I’ll reopen and approach its forward end rather than closing repeatedly at the same point.\"}",
  "call_id": "call_QCAcdHYfzwsqfWXdZ1SPBVGi",
  "id": "fc_07d29d1e2f1cf04f016ab4238ef25c87d0abafbb1f6f117a35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QCAcdHYfzwsqfWXdZ1SPBVGi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0612, 1.7298, 0.6811, 0.44, -0.1108, 0.0078, 0.9952, 0.0521, 0.9932, 0.8589, -0.683, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4354 left_y=0.0499 left_z=0.0499 left_yaw=0.1336 left_pitch=-0.0446 left_roll=0.085 left_gripper=0.9952 right_x=0.2953 right_y=0.0059 right_z=0.1804 right_yaw=0.0369 right_pitch=-0.2577 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -5.9966, 7.8427, 1.9414, -0.1148, 0.1685, -0.1685, -0.0205, -2.7009, 6.9402, 1.5067, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b191241498ae8be98cab3df6d52b0bee00b4d7b35b2862139de612097cfd5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4483b58711eed1c64892c08a0f5e5840a5ca70d1d05c3a1247342b324039c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849dc98ec1999563d3ee7f12d867b4ad63cdb44eaf8a951c9fdaebbc29e779b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1028, 1.7145, 0.4171, 0.6979, -0.239, -0.0601, 0.9952, 0.0521, 0.9894, 0.8616, -0.6807, 0.0742, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3841 left_y=0.006 left_z=0.0174 left_yaw=0.1136 left_pitch=-0.0214 left_roll=0.0995 left_gripper=0.9952 right_x=0.2959 right_y=0.0059 right_z=0.1829 right_yaw=0.0366 right_pitch=-0.2489 right_roll=-0.1175 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.6274, 6.106, 1.9609, -0.0415, 0.0562, -0.0806, -0.0068, -2.4547, 6.8444, 1.4774, 0.0269, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0624, 1.7283, 0.4583, 0.6735, -0.1081, 0.028, 0.0125, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3925 left_y=0.0472 left_z=0.0187 left_yaw=0.1218 left_pitch=-0.0337 left_roll=0.0994 left_gripper=0.0125 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -6.0376, 5.7504, 1.7998, 0.0073, 0.0171, 1.0867, -0.0342, -2.1949, 6.9402, 1.5214, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0612, 1.7298, 0.6811, 0.44, -0.1108, 0.0078, 0.9952, 0.0521, 0.9932, 0.8589, -0.683, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4354 left_y=0.0499 left_z=0.0499 left_yaw=0.1336 left_pitch=-0.0446 left_roll=0.085 left_gripper=0.9952 right_x=0.2953 right_y=0.0059 right_z=0.1804 right_yaw=0.0369 right_pitch=-0.2577 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -5.9966, 7.8427, 1.9414, -0.1148, 0.1685, -0.1685, -0.0205, -2.7009, 6.9402, 1.5067, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b191241498ae8be98cab3df6d52b0bee00b4d7b35b2862139de612097cfd5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4483b58711eed1c64892c08a0f5e5840a5ca70d1d05c3a1247342b324039c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849dc98ec1999563d3ee7f12d867b4ad63cdb44eaf8a951c9fdaebbc29e779b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOYZITzIQbMod0JF17hplWnr4r0yt-mTFMO1syJD7hFrWKIno25WZP_BgJIUSObnxffd8aLCwxK74SF61jWEBDnQu2bmy4VE7COX2ql1OIOqkYbIX2VxDGjO5kj169FaSGW6VTp7fgPtjEXv5K0mbeAmizsbcfWxQKGXS4cBB3Le6RlBSLuaTyf4LGnCIc_bBsOQDC-SjkZLxt84LfWeg6XQ92lMxgKxkoD9rAIn_yNEdh1zxxaKRY5Sq-XnNiaN6a6OhyU5fpK_ikX7JlnboGYEpC6LINCoRZI0kvneNNIpSrYHnAOlETzuL_r7kwyxHnQZsxcqAwmXSd2QvMeBB5gyTE9oN8XhROgbdUbXZ4naDX_BwS6GSOuLkSJiUVWeHe4H0fZHuG4ViHRWgJsUJ34yALVdHz4F87WIEtGiyM_tVSU4l77ED4xDTpO3u2RHJg3IftqgdBIdPzuOkw6SOzFgTWZ-jp8UOg43hva6IxFQzrTXTuRxAmjNfXT7GwK-1aQo1GTCu2Yx0ReLpfHMkco0na9utpSdwjTqk2wTtLWkU-gfRoum2jhZt1_jNoU_YrbB4_cK4E0knRsxGnBo2WFxgZOtj5oeY3VQszCkGybUP_9ZHwYU8SHk6XSVJXkFY6knep-DJwq6WQoaTr3kt8-uG-XCUHf_-gZU1BiqxzHpbUK_tYjYGQ5jrQcrAvomKZEgKZ1tSbmDh7C3fOzz0XOokufWCanVSPMh5-DXFFglr7wxebrogboOSWOee-ArXh0hqOKHVvWIHPj-lT4FNYJWI8b34d9Hw8to4l32bVXgsa69anffFc939j1GqYMwRDb2EmFkG5uTygqVIcL6LsIV47C7gf2LkaVBJO_3hxHIJT4PV_QTIDBiDS7qQ91eqCxbFEdfG6tbaqevaUuXZP5E9qzZiTkgAe_0T8GHnKXyb3wrsbkCDOFOwD1zo11gPSS9lmr_jOFvWn80_p-MSg26Lr7shAFoifvoANM9JNlCnyexD-RucbI04MHjvtbmfAHT7M6Mr1w0Isgm60eLGJoEVHMQaPe9HnkmlqA_7npbJ1xeez4P60vFtiwboagtbO9k396TThYpkcLUZLMYAZRBCf9LvcisF9ND7Q4EzogjSz5YDaDFGffSrO4A1bKWYE6y9HsAec63uk1DG0p2qJ4Fm04B1PmRHyDaTjL9Q1d8PNZjH9sUz7XpoChyApNbVMpWIjmoTXGXe8A3B6UTbv6ciUMsloOcPl1lIOvZJTeeJsHD77CPxUpkwx4mMltVaQoOw7Fn6H3sdYISLYuMRnXWGGCX0lQFnmY8SDAV6tcUoYxWrIffOD39ZwYZ-t07WxFp_zRDMsi79Oh1HRmIcZOjSjEnygHM-xDxgMzypvlu6zDYrWpvp_3KpoJiMUuhg3nPQdl2qa82q4hdvxZn9kQOzSZiUZaV1EMKE6NCgbmmTGdp9RndrWdNAzu8VYqrcbwZ_qjSlCrauTECXFOVkvIWSgx_ORQVS7CKboCNpxCvVaZKXxlsW0rDlN6TwjHRkZexK7W0N8TSyvnEscXkTdLC0nwv279GrlfWJdMmk5KvKKPdWGlT7E7CH5PDQ1xqPywz9p99z2ANqCdnKq6gtt69BrsRYmZJVY2pFiDQvaI3fLR2BFg2aR2depBg0k5v06btkm3Wzwuu_tmxQ0GtRI7nn_u_-o6182WB0kP2x9NS8LB8l2iB-aZt8C1ep9QzrsTDx2j2dTr4nXF7O5JOJF3hMdQoO_j_AObbO56ndFIW9N1W_Quw1eylN8EuNAGcn4be1tfaMZ_xNrw1TkTLXDPQpsv9ELDABL9n-5wS2DJaD2F55fUMB9sLqaqyfB8ZmkkSG_dadeCEJLWBogwRk95yrqVlxPz0zSiCYb4b8WU8zwd_9RsCGW3WkQ1ki6MQkYhhg52ry93u69KoR893T-H2xmu4HOImWWmFt0ITyC4WlqsUtB-ioeWUbkYff2RoTl6cLN5oaCCJDvrtMAeXXiLBbDg6eOoCzxja5-_I0bE4BrOtmdTd43AA9U6ZxI_PRd-J_7DOEUpiEssTYnPf0nDr7vMVRf_VGaCwYHCoOCxB4Y9fDPCPF2Asm0q-fG8n7ALE6ZJcGmdseNpLZVoOIkj92wculj4PQ7qJiV0b1dWBItT9jVFizTaiO0oPDxTB6n11oLZjyEI9ma5jailyAG94YWFG6Tq8Ub59xTeQgftlzr537Uw69K4ZS5UugeMT-YFLe_lvkvWF88DKjbk1dPj7WHpvB4uOfqLDMellVnmDdwSSOfDRnBnB1foVc5vbb5Mw9TsZMZ4_8vV6N2dfvK85UWGw1MfC1a7RjjdM8daGbNFC2GpEYy5jNyt4TTMgOggaGk1ZqD5yL9zufiQhx3SPrU5QdKi0AvdrSmLBjYEDZUP-WJ1DyjusAol0EHb_Wbx5I517txQSU0y1eYMpDTj82-36f_A2K337TiV63pqsuRjiZbwXXL2xRbpyMxjrAqzQADlmVyrG0p2UN4vjlNlGWDQC8Aa3MLhHZ9PHmJ7CNO2nYxsAjhFRHtx_2HblDxz-fApGfKLwob-i-Y3RDcbP-NGI9J40EI9i6pI1CHJTYEVDQ51-OD_jSQwJGrASMJNG-vw0S4jG4O-HCbGE37Afw0iTCabbuILTLUqtoD1FmmOxXjObrnPKYMlvgX3UYPE-XhuEJdzuvB0jxGhVQhvGS7HLT21yKvpjGtfbRFniwkG8siUaKRTiwmganQhmEOm4pghe2-_GacRm9XSupITKtj7zg26Q58Q_oOfVIl6L1rY7imT5s10zvxyXZp4IKF9W6KtkI92zAgw3PH9Mb3qk-K5pfaAaNhZWVDRpgDF9YLSElNC8035uQ8_aNwGLsEdMi2fK7HcSVoUd_T-z4xHRquUharsca3SRZVttyIYeedALw7zcWFNjDOMbFTnswMisUY1hL8l0vYzHuQ3AzR-ONrIZOPHID09LFVhQk7TFAMD2PcEh2BdAdqHrS5btAX5Sm_PfE6Z7exLZ35eEHY5fcY_MD9UYa-QGfyVLf2wfMEoTAAcgK3SyxhuqV7_m-Aw9u2e1wqSV2FlD-B5nps4JNYkfSMwrk_-Y_tET9t3yErR-fZBROVrS6p3RoPICv5ngy6iIZxWNnB_fOFIsVjEf43nKA7GOG-oG97ZTL7MpzOuTWLEEnsVIMXJR_rcHTYcvtmbPfTV_xgtyxnojW8tTvMTHPOQMuK4LztltP3yUo_44VNtU3CD_MK0xc4ulB1gYnZDEVIoi5LjT8PteXaTvOGjrzn0ZRx999PvDvDid3-ehx0jJMBMR6iEOIcPGM5rAe_z8EHp0C2MNQQf-00FuXMwQZuNlPcpK52qHXFP1eA0u7F2nNXacZKoMd7E-BtdbRXoTM8KKm2wAtudjakNEhHO1pSBOOmD0u__STdpIKAJdfMsv-ASliuUS8-MlFJX",
  "id": "rs_07d29d1e2f1cf04f016ab42394ccb087d084fa5891f0506c1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.014,\"left_gripper\":0},\"note\":\"The gray plush is visible between the open fingers from this farther-forward position, but it lies close to the fence-side jaw. I’ll lower and close once here to see whether the fingers can catch the plush rather than slide above it.\"}",
  "call_id": "call_PhPY9o9uf0RL387pK83Ek5ng",
  "id": "fc_07d29d1e2f1cf04f016ab42397f80487d09b9e003f6ac39d71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PhPY9o9uf0RL387pK83Ek5ng",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0597, 1.8557, 0.6483, 0.5823, -0.112, 0.004, 0.0125, 0.0517, 0.9932, 0.8589, -0.6838, 0.0738, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4345 left_y=0.0493 left_z=0.0141 left_yaw=0.1352 left_pitch=-0.0607 left_roll=0.0838 left_gripper=0.0125 right_x=0.2952 right_y=0.0058 right_z=0.1803 right_yaw=0.0368 right_pitch=-0.2585 right_roll=-0.1176 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -7.3641, 4.2188, 1.917, -0.0317, 0.0171, 0.8181, -0.0479, -2.4137, 6.9949, 1.4676, 0.022, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda3440f46983d8dcb32dddeb31fd76ed9f4cdd6481cd21e2b68fb466b7b9414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cc5bf03c051754e5f9b887231f9b9d1d73239aa74d3e03163c67ba517f8af7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88300063fbdaf572d1a244f0f94082c8e70d4b682071d495329c2dac337bf6df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0498, 1.7218, 0.4473, 0.6815, -0.141, 0.0006, 0.9967, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.39 left_y=0.0479 left_z=0.0194 left_yaw=0.1515 left_pitch=-0.0272 left_roll=0.0946 left_gripper=0.9967 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -5.1214, 6.2838, 1.7314, -0.0611, 0.1001, 0.1392, -0.0479, -2.3726, 6.8581, 1.4676, -0.0073, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0612, 1.7298, 0.6811, 0.44, -0.1108, 0.0078, 0.9952, 0.0521, 0.9932, 0.8589, -0.683, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4354 left_y=0.0499 left_z=0.0499 left_yaw=0.1336 left_pitch=-0.0446 left_roll=0.085 left_gripper=0.9952 right_x=0.2953 right_y=0.0059 right_z=0.1804 right_yaw=0.0369 right_pitch=-0.2577 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -5.9966, 7.8427, 1.9414, -0.1148, 0.1685, -0.1685, -0.0205, -2.7009, 6.9402, 1.5067, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0597, 1.8557, 0.6483, 0.5823, -0.112, 0.004, 0.0125, 0.0517, 0.9932, 0.8589, -0.6838, 0.0738, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4345 left_y=0.0493 left_z=0.0141 left_yaw=0.1352 left_pitch=-0.0607 left_roll=0.0838 left_gripper=0.0125 right_x=0.2952 right_y=0.0058 right_z=0.1803 right_yaw=0.0368 right_pitch=-0.2585 right_roll=-0.1176 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -7.3641, 4.2188, 1.917, -0.0317, 0.0171, 0.8181, -0.0479, -2.4137, 6.9949, 1.4676, 0.022, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda3440f46983d8dcb32dddeb31fd76ed9f4cdd6481cd21e2b68fb466b7b9414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cc5bf03c051754e5f9b887231f9b9d1d73239aa74d3e03163c67ba517f8af7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88300063fbdaf572d1a244f0f94082c8e70d4b682071d495329c2dac337bf6df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOeG-izjRuZQabTmcjVG-ThEcdzF2Fr02EAsWcPkqEOihn1JKEsubcZJtNdQq3-79TPpz0hjPpbomavc4fNPvWXJ0YoMjtPW0ogt5W-7V1s-PdHPfdnrZPXxILFQt5lSiqT9RaJFCP9ck00p0HUy-BQYZuqwzsbstXSho3hfAtfb2CTTpdu72AaYgWdqRRnFmhKecwGOyLwAwjrsQr4eLFBdAwoHTT-iFevGrqUTEFWy8abYbVvY2Y-c-kAiSAfvojglGhJVIDtjAFTTipO0eC6jKX8v97ODjZVmtnHf0SFAXG9reL1jS4H7J3Jfdhro2npK4XTJ-YhO69Q2zbQA7TzqhPraU2X_uq0wu_vHStZN8x9SSlWcts1C8vkYnva24cn81O_TMbdFRrLFsNGdghGlKLymX45ce0Fdqxq0Q67qTJu9EJBENZWAgoxJZM7G4mzOR5n9Z-VvRZvnqXdRG9L3KmHRP_uwHntLx2Ue4pE5qexAYtGgXmJuezqXMV3skE0yfZ_9Nq-kmYgkRzTbyXk8gAAf0_-Ff5uB3_bNSG_EUu4QLZJmHLlGuDuWPknadUTzRRKdMCbaaEtqRU6q-xWwJLoLW2H9PciJRK2AeFKrycbxg78eWXdDDAUPqQrGF5QUl2QlCvFBiivSPvhpXTVESfoXhV0xVO9zIADz5l7lQu8cuWpfy-wWZbfCs4JEsyXj_Amk4MAniX8JGYfAqwtLtl14-RqSE3Z86KLgKtsxqoc313PQJbjkrcEflpoU6rM6dpI9sI2GEGBNBcN2ZK2uk1IzZRRh3TVcP0WMxVmI91gFz_MbkemdMXp2DFm32aTDmFmTH7cghogtVnX_iGBK84GA1fj6IOwcedzyPWt9ivZ7hoVORz03_5NO2UiP2FxZBiFxJ5qPLxCPh4Z_GTDLqg-dZh9ZJtrKo5qye1wx2OygKNabQv6jDAGax0YLP1SuPMPP7xAwYFP7UU72HUrc9hptZOXW_ifP3F1IkjD8h5ZCLNIgF4qPJX9D65oSGjB0Dsb2NnOQuY3-YAS1MMyOtKRnHuyDKQQERB418FdxP5rFWmY47KcD2WHe2sZsed1RPOlgm_JCBkP1kPRb36QFvu88F5om0R9Pcg7A-XiqS1wWosi63V0v6FmMVHmWZrPFISTynWhnsd70yzam4OF8fVLRrm6mQwy4A6P8oxkakxRWOOXiRhaMtsovC49fdD1XlpH9q-7kZfiMh3pwgNl6-2enrKRDzC2ntHl7-SHpOJ5Hg_MZlGW0qlGsDfgFTVOP4wXgfh1Yo4Wn0fp_IacVe7BKZnQnRfmwJqy0cYmAzxDEK46sdXgBrAlt8PHHXj4Kg01_yImAIXkXcpAQjjIjDYXBnhewrqu4yuwTwtj_zYO0-B1qU4mR2s3zEzcb66332Ocv2HSP-pK6UKlvoFj6oXkWvIyUuDMI86sbSQwWaAwO57JJ7zer8Svk6ZJgVdw8rENf3DimN70Rqq92LVK1-e3upjqmv9Snkr0HqvyKa2IXDZ0nXN4VmrNHfy0kOmK94LoWLlE7nXBnkZRENxx-6pRVhZ-p-M3aNG1W6hfbZLti3fd7RiWbiT0vabTMTSG0Pi-Ntppa4c7RwwSVfTxH5__I-8qri2tl_rs_tJMIXAQcapGv3ugHee3SzaPosE5G_OA5JCgPRn5On5CORedPA5JfmT-VPjKVz1uDK9bamILFeOE0ZbQn57Dk09p7Wyz3-Bj_zalhKe8ZYFJC4u8NjXynJK8RG8lpDYITilDM_D1m-SMGd8bbLEIVWbR-oIcZMuSAwQr4iQKbcrjDTqQGR8Y9TOChn1P5bkIxGT5guV1Qs6U-aZrcP4z8GUXZbNC31dYsLiwwR0n4Qirv2pqArCAbdZWZILg3gWcI5K5S0egTPSXpZXQ-QLoB9iV2rh87gUqcnbJnBryxoh9A3Hknuh6LeSqM-mO6877z3ZCspJl4VWYRXL8vcs4JPNxZypgVG2SxDjxTWo-MFqVOdyHhVZdNPsZT1A9hyRtSbim7VIlJGzLYCd9kR0dAeNvLVMqDCULbJ9dogzrw2-GTDUSKlEZk_OzcmRhqX2wQfs2ESuX7-KqYiEbbMn1OOf_Z6zs_UnVvrkQbZIMIbwqL5pKeVDX3oHXTEUAiUqcoByNLTSL7YK1_TBLV7n6ST39dvWyVShY_t4UnGDmZ3gQt5XFKO3lMG0zpzrA16c9UVdO8SsYw6uzw1RfrCPEb6gOJ_BzYGHMU0JpzR6gqIsfDbdIPZv3idNxqsH9QnTBoQ5lXZbLbQIlzgtDUIOWw8k83lXtBVnnFproRxc6av6Oz2-OGqWnfVaMOMDOjCZ5HY79NRsFMOtAo5Y1B6BcpwTETDptCdtOWmdsxW0T-9jQCQYq3xxMZ06hv3-HdpLQcseuOv80Kz-zdttZtnG1n5UOuCtDinCv6q8HimtN0nD2naRSio27nR7QR70-B-umXEbMSG1LccVuGmL0p5qqOnfQGeAojTc-kiL66vaHvSZCLv9wfD67fI8dvI3Iy_enu1vJ0pIX1tEcTLzyod-aqOz1Je_ZyFXC3reeiiggyaqWaHDW0KhLWBLR_721wbyVlSEG_v2bdnh5rVv_NO8d2CmVfRd-GwJBKh9z8d1ej8dCnZInCIw-qnYYNq-METwg3eeJ4LYCdvm529HjHb6A-i-Fuu8ZfiDIjzc-HUZ4f5A9BXIgWo00n-rbzxf_HkvOZB-5nZ55-ntvtw6cXKnTysFosi8o3IFEBX7t2I3J6ERUA1BBLxsRrxo28IYzGremPnWPYN3sWCh3XMA1_6cP4NmpVYnC92UB09ltKmmeSTt6pzEX4ipP8dXbhZQatqTu6E90w9vSC4BklauHp2bk85jTxtAtBLTo2ABKMeUtcp0R_KjZ_-cp5qHyFS0TOU6iuKqTc3J4LraYHh-kJRfRJkXc1CRm6cf7lI-O69VXe6S4US3_toAls1SZUuKANGC3yWdY4-9gTmHtDqwW6ypqchLTJuC_vlqx9kcHQqLr83pzsdpQtw==",
  "id": "rs_07d29d1e2f1cf04f016ab4239aa0d487d0a331d745f300930f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.025},\"note\":\"That close also finished empty: the gray plush is pressed against the left edge, outside the centre of the gripper’s permitted reach. I’ll reopen with the outer finger beside it, then try a gentle sideways sweep to bring it away from the fence and into graspable space.\"}",
  "call_id": "call_GY2PqxHiaITQMSFgYBE4e2XY",
  "id": "fc_07d29d1e2f1cf04f016ab4239dc65487d08fa7453b7f8529a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GY2PqxHiaITQMSFgYBE4e2XY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0593, 1.845, 0.6434, 0.5385, -0.1101, 0.0002, 0.9951, 0.0521, 0.9932, 0.8589, -0.6834, 0.0734, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4274 left_y=0.0484 left_z=0.0082 left_yaw=0.1354 left_pitch=-0.0987 left_roll=0.0825 left_gripper=0.9951 right_x=0.2952 right_y=0.006 right_z=0.1803 right_yaw=0.0373 right_pitch=-0.2581 right_roll=-0.117 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -10.4684, 5.9829, 1.5849, -0.1392, 0.022, -0.0415, -0.0615, -2.4547, 6.7624, 1.5263, 0.0024, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dcd46d71d832a51ad2cd4073b5b9e115392803750efa832b25e0d1d9405f5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ab9a49ad4325afbac368aef8f8070c41dbaff6dee4dbe8107176d2e4365d52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d96a81e41f746eda12e86830366d9dfffcbb6f6fbc4f89a7d652c0f2ba47538",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0624, 1.7283, 0.4583, 0.6735, -0.1081, 0.028, 0.0125, 0.0521, 0.9894, 0.8608, -0.6804, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.3925 left_y=0.0472 left_z=0.0187 left_yaw=0.1218 left_pitch=-0.0337 left_roll=0.0994 left_gripper=0.0125 right_x=0.2958 right_y=0.006 right_z=0.1827 right_yaw=0.037 right_pitch=-0.2493 right_roll=-0.1172 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -6.0376, 5.7504, 1.7998, 0.0073, 0.0171, 1.0867, -0.0342, -2.1949, 6.9402, 1.5214, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0597, 1.8557, 0.6483, 0.5823, -0.112, 0.004, 0.0125, 0.0517, 0.9932, 0.8589, -0.6838, 0.0738, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4345 left_y=0.0493 left_z=0.0141 left_yaw=0.1352 left_pitch=-0.0607 left_roll=0.0838 left_gripper=0.0125 right_x=0.2952 right_y=0.0058 right_z=0.1803 right_yaw=0.0368 right_pitch=-0.2585 right_roll=-0.1176 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -7.3641, 4.2188, 1.917, -0.0317, 0.0171, 0.8181, -0.0479, -2.4137, 6.9949, 1.4676, 0.022, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0593, 1.845, 0.6434, 0.5385, -0.1101, 0.0002, 0.9951, 0.0521, 0.9932, 0.8589, -0.6834, 0.0734, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4274 left_y=0.0484 left_z=0.0082 left_yaw=0.1354 left_pitch=-0.0987 left_roll=0.0825 left_gripper=0.9951 right_x=0.2952 right_y=0.006 right_z=0.1803 right_yaw=0.0373 right_pitch=-0.2581 right_roll=-0.117 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -10.4684, 5.9829, 1.5849, -0.1392, 0.022, -0.0415, -0.0615, -2.4547, 6.7624, 1.5263, 0.0024, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dcd46d71d832a51ad2cd4073b5b9e115392803750efa832b25e0d1d9405f5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ab9a49ad4325afbac368aef8f8070c41dbaff6dee4dbe8107176d2e4365d52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d96a81e41f746eda12e86830366d9dfffcbb6f6fbc4f89a7d652c0f2ba47538",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOionSb9iB2k9CVfdWtXnK0b_AyrSYKXJKMVx36YHz9JkPBH_ns2M10SJy2bxkIPfsnJt9QfNBfCOxiepHNWlHChtrcfzSchm6heQi2ydptLHC3rlYYEKtp-s8ul4NzjBgmYwlxXLLxrrPPZ8KPU6qwIAk9mytBYIIIR4awnfV8p1-RrtRWx8wB3XQZ3KXNeaGXN8UWXv2UljN3n5khPOptOyd_UdVmGLW3l4zomnSl2MdTGek64gmXumm6SdyDFzHoGbZ_Qp9pfZ2NIu6YlacPbkfooUfnCLkjIjme4HdHIwZDLIhGT8PSsH7WiKPJlCsXfUt9l5qAw_XJM9UN1Xz6sqdPyav0kIRRa8Le1rxU_KnnulXWBFYBK1fOJO2llZvkxDswR9LT0l7Szg6VpFswozdmWrx9DApTw3BGhXS-Ho6MwH7EisHb2ncGBzLEgSBOdeJKHPVnwlU-yGueaDDCfNbXir9bLhYgYgYuOSIh5j_H-fFVRFSBRzZZpj_Dift9extbqcYU69_DZuG8EvNhCUgvD9fgp67aQo39JBZh_BXxRqfeXqOztb11_Rv5cM28pqR3ZY3ir91tVIAjFiuYtJq7OOLWdfTY8jro8hiuq1r9lCGb7X_-7-PxaCelPGRygPdpAK_3zCmCpYT9Oqr3V5DVpot7cJmU2QGcJav3Mdblisu46KuKMM7MLjRsXEwO3yRTVjxX4PKpxWLEBzFXBPygZEUww2JtGegwUFF8SwOCisQeTtSj44un7z5Yw-gUx6_oouFSdREmVzkWzKgzW9-YT8QV6y71tqLH7QZhM-bB6BBuFkPeMY9nWJhpklBeLYGI6WdeGdX0oXfUYhs9aJzuMTQeaSnw9xo5B2pf4SeRKBbMJfJCCcHPOpXiZgYKnQU4tx0K93qnn-MWhkXCceYoG6wOGxQlR8zdqvAjhTxHQnFTk4ZfXq-WWqAhbirmOiwNzsOUE_PCSRXIdRT7-Uu4mKP1EFtXs788RvWR27YSpXyf3dZ1oZlSI6eyNtcDVz2NpFIM9HQXOma4B6efDWU49U6lfL-25NkCe459OVjJknWhWwbTPAWzxPc5_oOwJTf2MgJSmvlt9MZWAoNV1sAm_PVafNt1ZRiEtvcpkVGzBj2_To5GaetMIqKmKPn4LOCIfIRkJ0velRoq1wERHpt1qmUmkWpX9aDC1Zx3zFWi6r_pTdoTgeKu09HuD8jPgZ3v7yTot955RAAoRfGAuCv96pQB-4s8OlXhpzLtq6UJD-QC-AaycULoUILjk9JZJqdVjgV0VUx7Sf9fv6hShyjrAMX7G6k7NCUkbruIQRPodYKa6EHpMBC0oROtx0zV",
  "id": "rs_07d29d1e2f1cf04f016ab423a17eac87d09bd36e3576d1657e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.065,\"left_z\":0.042},\"note\":\"The gray plush is directly alongside the left outer finger, and the arm is pressing more than I want at table height. I’ll raise slightly while sweeping inward so the finger can nudge it away from the edge without scraping the table.\"}",
  "call_id": "call_wfAXiIbw28Lowiw6hykUYTrz",
  "id": "fc_07d29d1e2f1cf04f016ab423a1d80487d0b3131466f2f8d0bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wfAXiIbw28Lowiw6hykUYTrz",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3058, 1.7927, 0.7258, 0.3008, -0.3752, -0.231, 0.9967, 0.0521, 0.9932, 0.8589, -0.6838, 0.0734, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4191 left_y=-0.0607 left_z=0.0215 left_yaw=0.119 left_pitch=-0.1425 left_roll=0.0969 left_gripper=0.9967 right_x=0.2952 right_y=0.006 right_z=0.1802 right_yaw=0.0375 right_pitch=-0.2585 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -10.1402, 7.6786, 1.5116, -0.2564, -0.0317, 0.1538, -0.0342, -2.4137, 6.8034, 1.5018, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9be4b9641caabe5df1e3d0cc302ea3c2985a72c52eeb529bd4ab2961b474798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483454ddba846ce11d0e7da3cee9815df5f3b34461f84df2bf2efe3207839402",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa394f68afaaa36a1557695e83e59c49f91700ff7e525da25522f9bcb5e4375e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0612, 1.7298, 0.6811, 0.44, -0.1108, 0.0078, 0.9952, 0.0521, 0.9932, 0.8589, -0.683, 0.0738, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4354 left_y=0.0499 left_z=0.0499 left_yaw=0.1336 left_pitch=-0.0446 left_roll=0.085 left_gripper=0.9952 right_x=0.2953 right_y=0.0059 right_z=0.1804 right_yaw=0.0369 right_pitch=-0.2577 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -5.9966, 7.8427, 1.9414, -0.1148, 0.1685, -0.1685, -0.0205, -2.7009, 6.9402, 1.5067, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0593, 1.845, 0.6434, 0.5385, -0.1101, 0.0002, 0.9951, 0.0521, 0.9932, 0.8589, -0.6834, 0.0734, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4274 left_y=0.0484 left_z=0.0082 left_yaw=0.1354 left_pitch=-0.0987 left_roll=0.0825 left_gripper=0.9951 right_x=0.2952 right_y=0.006 right_z=0.1803 right_yaw=0.0373 right_pitch=-0.2581 right_roll=-0.117 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -10.4684, 5.9829, 1.5849, -0.1392, 0.022, -0.0415, -0.0615, -2.4547, 6.7624, 1.5263, 0.0024, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3058, 1.7927, 0.7258, 0.3008, -0.3752, -0.231, 0.9967, 0.0521, 0.9932, 0.8589, -0.6838, 0.0734, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4191 left_y=-0.0607 left_z=0.0215 left_yaw=0.119 left_pitch=-0.1425 left_roll=0.0969 left_gripper=0.9967 right_x=0.2952 right_y=0.006 right_z=0.1802 right_yaw=0.0375 right_pitch=-0.2585 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -10.1402, 7.6786, 1.5116, -0.2564, -0.0317, 0.1538, -0.0342, -2.4137, 6.8034, 1.5018, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9be4b9641caabe5df1e3d0cc302ea3c2985a72c52eeb529bd4ab2961b474798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483454ddba846ce11d0e7da3cee9815df5f3b34461f84df2bf2efe3207839402",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa394f68afaaa36a1557695e83e59c49f91700ff7e525da25522f9bcb5e4375e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOoJpU9vamzCW20e7lISDlvJ48nAV55OQdcIGqS8FAv188f_u8SjNmP7MSEO_sHUok0voshX_oCOvDJDT_Bif3md7VDW0UrAvr3Js4SW132jpC_tiN_450RrNClp9shlYvMMEQuVAGydDaTIBP8jLMbn9HkekUhKgyN7qmMm7JQOKCebpJRP3I35JsQLvHG91XjaNUuuDxNxWRFqSmjuQmVpc_CpVhFdEe1DAIG0VD5g3FbYhh5Omna89W2P4ZBKAd3oL--T3e_1sGk2iKt2z-YRlpW5wRYUA-sYRu_xJzRdzJDieVdHWq8wsx5BqB1zbCU_74J9Ey2PHbXFPeTtzu465a7OKfbEb7G6fE66sefyKVnfiJ9vWJpGAjF3n8iRHM5JG_NrESk9ZpJ2ZnmlUckrJRrSqMgBmVGDXsiQ9cAPwJkf4k_tJVrRbsBu7EfFeNj_gqpQfjLx1edrkXCVGKlxWU0uw38i9nObRuPu8K7qpXrB_a9Qs_wJrwrAbCqT0NJegSC6PI0VheZusdedo0v-PoQjCdeQ8P-VUQQx1CHY6nS6neq_fcI9OSiAXYnsYmoSiPbA6uIkRY_XAuZ30dvr-wSjWDaS9s8-p2pWDg1t-glEhfGynzbDS89sGXYHZ_udU9_hKbZkjaTzAI7kAFtX-Q7OEwFO8jwwgbVD2WgdNTdZXYB8YqHLxKySs3gpeI_123zO9U5L4KfVeO1juNziG6HdNBib6Y8XKR7acCwYs-NrS-FjafwgrV21eyUmeiZEqEOAZmSeZ-7__U-wuB285MeTxBp0EhA5Z76ZDagZsl-mv-IaqDp5y4ImqP92Mw0kJ3FPzu8z6UwezIA5lsmz_mA02r7ggfmbUUrPduE1ReFEmh7vVzUUcEru-gtyOez7ft8kuvtIM8x73kGlqg-s1DMTfWEg9e_eSNHqk1rrIcemxNqqPHNVjiERpxXaoUtDgaiVmvwQWETLWFNqissoIAV3L-q7AhWcjYRT5ZVqg9mPI3u9YQGg7VEfHJ2I4Kdx04pfLKTMHF-R3hRWZaySBxnJcSgNHlOkAX5yyTQBdiBfidBG4vQ3edc30cMXVh_wNqg9bU6p0ArsE1-5IxomJeklKLWt71VU_nYuYQXdSsXLIbUmprhLgr5dOlTa-eoIHtBIqEqIS3FSiWChjDaKQX1SpmFekpx4oSiLTZMlPkKiT0mpw84KsxSndchmEM6gpyMl3vujJS8vOOEABYLm5vEFsN1Fyz4b4vPA9ZWqG_h7h2FJT0G2BoDcntJQEJ8qrLhOBuuv4UMa12H8jyuRVtcVGjQqdDglgdKxqUoAkPFWArhXJ1HdTzgShsxJh8ImF-gyz0ifR2_Bd00sOZAX29scKw74Lh8bQ1PmhZ3yICirGJExUfEOzk0vjRBU75uxVoFHylk9UlK_KhwdZPjueHyQjxyt4D3TG_1VAWclL0KTBtCvhu5wK24suO5VtDXbDP-Zu1ET3FNhw6-XMWjbJPrbJDbdUhEaxWDacv0EKg9ThqRy4zCgJkHkNM0w2iNmbZeA1gFtpZicz3BlI3bZ2m0njFB68mWRWRqBl3xdb3q48l1PX0Yck7s7AnLVps6XgWZagDRxfPxkanWVRb5h-uPILKkmvSANdtN78U9MU4NVpGqkFg4P4OUqDncjN_SolJOh_SgCgM0L1bZzCybPxzNGm1GcRIWzAsnGBIvtsRfXzZ1vegNwkWt1TQ8ibPcovd2WFHzWFn6iiExjsJtX8mxIgjTTRPatYJspASZ61RPj6XwhdlORkyNW5kJ7NR7m-YWySq-x1qs66ot6DagBhDyXhgrJ2mL58t7yNNROMZszDc7IjAvKNtTIlDpay1n",
  "id": "rs_07d29d1e2f1cf04f016ab423a681c887d093a02e31c9872fc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.005,\"left_z\":0.19,\"right_x\":0.29,\"right_y\":0.395,\"right_z\":0.09},\"note\":\"The sideways sweep moved the empty left basket instead of freeing the gray plush, so I’m stopping that approach. I’ll park the left arm and use the right gripper to pick up the remaining tan plush near the centre, keeping clear of the shifted basket.\"}",
  "call_id": "call_ycw8PvwpYhX1WTwWT7DylO2Z",
  "id": "fc_07d29d1e2f1cf04f016ab423a77b0487d0a9554234df6782b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ycw8PvwpYhX1WTwWT7DylO2Z",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.9218, 0.7502, -0.5808, -0.2787, -0.141, 0.9968, 1.1519, 2.1365, 1.6844, -0.7967, 0.6716, 0.8864, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.006 left_z=0.1758 left_yaw=0.137 left_pitch=-0.1584 left_roll=0.098 left_gripper=0.9968 right_x=0.2899 right_y=0.3897 right_z=0.0843 right_yaw=0.0575 right_pitch=-0.2806 right_roll=-0.1206 right_gripper=0.9965\nstate[joint_eff]: [0.253, -2.7419, 9.7299, 1.5751, 0.0024, 0.1587, 0.0024, 0.8137, -11.2889, 7.9521, 0.4713, 0.5641, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488e5ebbe52580deabee1f198b7fc78e30009053f6b62f735460d21e44ab7ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6811be3a8cb9af54a78c7ae259921f4ba3aef9caa3a47aae300bac244c6f58c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7553b3b6bb3a8edb69ade8eedfb32b635fda77d7c11f1491aada6a92ef3940",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0597, 1.8557, 0.6483, 0.5823, -0.112, 0.004, 0.0125, 0.0517, 0.9932, 0.8589, -0.6838, 0.0738, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4345 left_y=0.0493 left_z=0.0141 left_yaw=0.1352 left_pitch=-0.0607 left_roll=0.0838 left_gripper=0.0125 right_x=0.2952 right_y=0.0058 right_z=0.1803 right_yaw=0.0368 right_pitch=-0.2585 right_roll=-0.1176 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -7.3641, 4.2188, 1.917, -0.0317, 0.0171, 0.8181, -0.0479, -2.4137, 6.9949, 1.4676, 0.022, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3058, 1.7927, 0.7258, 0.3008, -0.3752, -0.231, 0.9967, 0.0521, 0.9932, 0.8589, -0.6838, 0.0734, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4191 left_y=-0.0607 left_z=0.0215 left_yaw=0.119 left_pitch=-0.1425 left_roll=0.0969 left_gripper=0.9967 right_x=0.2952 right_y=0.006 right_z=0.1802 right_yaw=0.0375 right_pitch=-0.2585 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -10.1402, 7.6786, 1.5116, -0.2564, -0.0317, 0.1538, -0.0342, -2.4137, 6.8034, 1.5018, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.9218, 0.7502, -0.5808, -0.2787, -0.141, 0.9968, 1.1519, 2.1365, 1.6844, -0.7967, 0.6716, 0.8864, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.006 left_z=0.1758 left_yaw=0.137 left_pitch=-0.1584 left_roll=0.098 left_gripper=0.9968 right_x=0.2899 right_y=0.3897 right_z=0.0843 right_yaw=0.0575 right_pitch=-0.2806 right_roll=-0.1206 right_gripper=0.9965\nstate[joint_eff]: [0.253, -2.7419, 9.7299, 1.5751, 0.0024, 0.1587, 0.0024, 0.8137, -11.2889, 7.9521, 0.4713, 0.5641, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488e5ebbe52580deabee1f198b7fc78e30009053f6b62f735460d21e44ab7ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6811be3a8cb9af54a78c7ae259921f4ba3aef9caa3a47aae300bac244c6f58c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7553b3b6bb3a8edb69ade8eedfb32b635fda77d7c11f1491aada6a92ef3940",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOvPm58N3wATb90x4mevHo2FTfyFdfOHd-KXjGqfGo4cP0ju7vV5uGshuIi9TbC2UCcSE-S2m874AyBFukMibJmXo4jGyUqLwHH16Yxg6ZZgyk20I_dXm7bvUOO9hh87KITuE0QF0Ghiqqh2AznPr1Z1rje6bYgWUZ_lxZ75kkbTfcWyir5iGRxBubdga5rIq-9U5PxqshxaAcbtAn8IdpJ5mYr3ikAtOquGXlV8GJqm-_n6-pf7hoj6GG9qZIQy-g04RkErM04IJ26X7xTGL4HATrL9Z0xZfv-qcZp-EHlKLHPMgRiFjAdRTaXXa1AFb1RLkPzSLuYEUT9LFILquWsFWhrlEd4Owxu8e5P2ZLXZRt6earfT5P7CUE2ExZlYyHYPa1l4PYI5rjbqq5MwShTMwLvVQcC232O60GUiAFMdbps-ULFKw8JbFxizZwYfXLyyocZJzZzsOhPjYjt_Q4lyuBPFgQsZ2O_-ie-Q44iZhiLib-HNhMzQ9zgMrQVrpp2TnTdv7qSaghySrooj5iY0BXdTTcfTXWSYB99iziw71JYixH6fvdoh14lpfhJK0yg9E93Tz6u6o_s9VLrGW5eZgwMrBqPTJKVnH09qfXXwLo6iJieV7IlAXFJjB47zDwanevBksDjCycjayC7nDkqvTeMfdLAc3RLnyLWQmKTuBGQUMAqYiR3D0oNaEThQhXaJLvFL4z45BGd7Dq02iSnpsioat19JrBqmxZQL5OPn9lhO3qTMIY95ifsaFlBp02yUTErst1Nzx98sdDej-pkMqHDbA5T63OuhZ9CswaFqJ01LaqlPMZbx-JQg-bMNUBTN__isvAu-UY0EjURCgyEWN3M-0Z6N32WP23ihSkFcMmHqMzRlFlNIGNzKBLQFlSqETg1rJO59wYkBLhDn932iYQYr9B-_DP97qPJg3TiHyF7nvi5XhN6WV_fLvWdhtgx_Z-wSx7RexbKcaEpLB4Vm4UqFi9oWKNMvkQM453j86wHJ3QwGA7anMxcgwNjU2rhwuewQpTyZLfdeu-xY5hYwV-5ogtl2uyWK3oA1TqWCEt3ZBke8c7llVNc2paDoYttvOhiOzHL5k5JSKHPi_8CbIkb6MAAymm6uT3Il3ccL0O8Ii2ELhlB9gKHPE4pCdqwPnGyu8pxqIVMIzPN35U70KL8-_bpWnV4tuuJJOla1cHH8m4FaWDZOD0ODznOX-9GvpeOb_ULOsP1vdna_W5orVI-TM9xGoZ_exj2hdTrraAB8_TRajFSQdIo75Yp-UpkLnTodHVAVH28qgrEL1GzkaU0SCe3j6LgQM2KlBFM-kAW2Hbq-MR57N0D98IptktkITlSKJHih7jdVcsDuW6AyuUgX6NyDIPAS2mTpm0z1bXy6XeRZiFzZtBgix97GP8IUyrQYdR5HLTdN53cBAXgXlAVqMILZ_l6X0kV6tk4zJ4_-52u7ruBjp--EdCfQJvuWlvOHU2W8tcWyd3eXNbrSDauOMPua7CN19TGUCm-xN2dgeCCdpLi_zCqLZt0nCKbLJzU9pANxijvJRjs0sxIC6M00SXDWEHivr6AWQoB2bJNyuHeyE7VxMIVxxm-KBxYFgnNhXZWc3rfdGQ6kjEfrrG5KQtUdubhvyrefXUKM4ZC4aV8vD5ChJDpxK2FzUyRFAplPCd24KfDikYrI8lYKiC38WsNc3xYWdQfNrGDotoXbvShpRS4if_huoC-MdJ8cjQ2ZS1N3tzhZCdpvTrC4iL4m3Zs9E1123nLLHx4TxyM-Ei-rnOeKckDeVcbJgzIMe8g5c3E9P4glcJfmyT56NHP3fsGOg1o7yDouT5OtvIO5w3hjO4xorMz88izrOpsOOM8u1db8bUVubZr5w5dqwbF6mGeW9daN_hl8DC7Fdo=",
  "id": "rs_07d29d1e2f1cf04f016ab423ac9e8487d08d8f520a15ab5836",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.005,\"right_z\":0.19,\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.095},\"note\":\"The remaining tan plush appears at the extreme left edge of the right wrist view, beyond a centred grasp at the right arm’s crossover limit. I’ll park that arm and approach the tan plush with the left gripper instead.\"}",
  "call_id": "call_pAFUSAN7r7nuU7wGUislEOij",
  "id": "fc_07d29d1e2f1cf04f016ab423ae5ecc87d0ab86954e1b65c4d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pAFUSAN7r7nuU7wGUislEOij",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8673, 1.4746, 0.7971, -0.4355, -0.7074, -0.7719, 0.9968, 0.0696, 1.0294, 0.8909, -0.7269, 0.1028, -0.0769, 0.9965]\nstate[eef_state]: left_x=0.293 left_y=-0.1624 left_z=0.0848 left_yaw=0.1276 left_pitch=-0.194 left_roll=0.1244 left_gripper=0.9968 right_x=0.2946 right_y=0.006 right_z=0.1769 right_yaw=0.0125 right_pitch=-0.3031 right_roll=-0.1215 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -5.1761, 8.6085, 1.1062, -0.569, -0.0269, -0.0122, -1.1692, -3.6855, 9.3744, 1.2479, 0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dccc732cbae420bbcbebf1525d69efe7e085a26632b8d0d1cbe7751b8c5d190c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de462dbd084b09f5034858581b79651dee013395299f98221913320d43ed4267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e13ebe251db31a6a1e85bb426ca8e3da3cf15b2ac2621210c9317126cde61ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0593, 1.845, 0.6434, 0.5385, -0.1101, 0.0002, 0.9951, 0.0521, 0.9932, 0.8589, -0.6834, 0.0734, -0.1059, 0.9965]\nstate[eef_state]: left_x=0.4274 left_y=0.0484 left_z=0.0082 left_yaw=0.1354 left_pitch=-0.0987 left_roll=0.0825 left_gripper=0.9951 right_x=0.2952 right_y=0.006 right_z=0.1803 right_yaw=0.0373 right_pitch=-0.2581 right_roll=-0.117 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -10.4684, 5.9829, 1.5849, -0.1392, 0.022, -0.0415, -0.0615, -2.4547, 6.7624, 1.5263, 0.0024, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.9218, 0.7502, -0.5808, -0.2787, -0.141, 0.9968, 1.1519, 2.1365, 1.6844, -0.7967, 0.6716, 0.8864, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.006 left_z=0.1758 left_yaw=0.137 left_pitch=-0.1584 left_roll=0.098 left_gripper=0.9968 right_x=0.2899 right_y=0.3897 right_z=0.0843 right_yaw=0.0575 right_pitch=-0.2806 right_roll=-0.1206 right_gripper=0.9965\nstate[joint_eff]: [0.253, -2.7419, 9.7299, 1.5751, 0.0024, 0.1587, 0.0024, 0.8137, -11.2889, 7.9521, 0.4713, 0.5641, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8673, 1.4746, 0.7971, -0.4355, -0.7074, -0.7719, 0.9968, 0.0696, 1.0294, 0.8909, -0.7269, 0.1028, -0.0769, 0.9965]\nstate[eef_state]: left_x=0.293 left_y=-0.1624 left_z=0.0848 left_yaw=0.1276 left_pitch=-0.194 left_roll=0.1244 left_gripper=0.9968 right_x=0.2946 right_y=0.006 right_z=0.1769 right_yaw=0.0125 right_pitch=-0.3031 right_roll=-0.1215 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -5.1761, 8.6085, 1.1062, -0.569, -0.0269, -0.0122, -1.1692, -3.6855, 9.3744, 1.2479, 0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dccc732cbae420bbcbebf1525d69efe7e085a26632b8d0d1cbe7751b8c5d190c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de462dbd084b09f5034858581b79651dee013395299f98221913320d43ed4267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e13ebe251db31a6a1e85bb426ca8e3da3cf15b2ac2621210c9317126cde61ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCO1qoiK8f145NR8v36d9nVHmIh0jV5PxFCJDMRJjwB0jL5vKbcbZqLmqd4Q6H2BKvbaQbVgytx7y5Z3eKDd-rBo2Yg6qH5TJqzwEOOFiVioe4_gWgJcTYJxRJaOe7wrqz_3g4twMzCguWpqitN7QRtiRNlqKBwFtUKIavHyMmJe7tUDU5S130Af8A4BPeGA-uEX3jwgNv_YIeWjRzcudfd-XG6bw7xWrcqsUBpS7aDbggZrL8PEcj_FlRMWrtgLfk4Kq_WRbr5Y_R3rbMJyoyJroeX4l5XkRZGrGTXuofmL1O6k9HDQu4lZzxUPR3BSmSg9HelEac7FzXvyz0jV63YjHs-M5OGC2nSW0QQrBHUMwdSk-e0y6AFI5_Ylt_TghoyaiYi0EhWNKKjdVDFtVVnkI2R3QqENI4lYMwuBvztmFWWyeF8rdLpWuyb3NeuRNUwd2nxpOw0wSrb-WE6-AbnPRcOHllK2B-kZ1tbn1lEtpnBqZhbZAUmSQ8cx_8zT3I4kaxQgYkSPFcSDWgzfQu9MFP0FzS-IBc4VcyWO9DQx9xXnDdMO30fgMzHWoI7L1Mu2ciI0142zln6ng3xJZyFbW8_CWdFqNwYbWrE35GKeYU41Lc-OZpABcGTZTCHdBmgoX2EQWMcpBNuLEHHkGmarApJC7X1PXm2VnLdgpf1ozMEbmnyk7du2v9eRKfreWbEDsxFFfG4NcJRxec8pwOna2tcW_f1VtXU5Y4SoOEcbnSs02ZSrehImXangsArrg_8jI8gvBtIjPhXYpIrHCGefm6mZmz3bE6bAJtJOXgKQnCt28ETPQUhXpncJGYJQmt0mmQ8jF1jD8opUVmf2tErW7Qj9wPXVfpshorYTAuBm6wtwtJjd7b3RvnHZO76oYq5CQC00uHfcuCM3Fd1iCtdVQxp6vZN5vEkQr7b4R6O2JDcELabemOA7-X7TFqX4S7jbN_BD6U8EFokblvGItVO-_VyRPNq0My6LyXOzp6tXWHEndd2gkn64G47wSXgcEB8QeZJ_6QGuXOKMlC2prVom3cUGuhkAX5F6cssalP_mJ12qsT0rPAKRJY9XwR8vTmf_NU3uGRXnHcVwP7czxWSOcFTOr1wyl5012_z3J6EAIYSZYMTsoJ0H2OkJTLPsB4NxI5oj6fKoxIDZ4JwtjL6kKgw2F2iAL9HHiNDZpfiYn60ofrKG7c7ogeLRR-X2-dnui75VBGsvm6-kKv1203t51vg85fhAHA7h2aBRgKfTfJY-wHBA8NBpQ9kRgOL2JVCfCOQ7yeGJWaSAmbX49WomisiTyKqwaU7ZfqrVtNvOrZ_Tr9ypnH9WMXy1fmYYd7tDMW5AmtN4NSJxac3SRpAcGZLap4sH_jYDlofflK7Wi9bIujnIc806g_MhywiRB388K5efJdbzo1fjB_HEl_RF_RpV3CeKMndvrBOoOsInOO-hB8v5dWdTgmebaE27YoCPsrpQrQSUwzBTOBaBQMfrg8XoSHrAkpInxJXvtOju631GnRNEWo4w2N930XGeryCGasZdlHeTVw1gS8SBD4a_LU24Up3DLnoV8R5-Lh7niuTeo-4aKdCwst38fMQpH6Qo",
  "id": "rs_07d29d1e2f1cf04f016ab423b3449487d0833b80fea40f1075",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.311,\"left_y\":-0.162,\"left_z\":0.043},\"note\":\"The remaining tan plush is centred low in the left wrist image, with its body just ahead of the fingertips. I’ll move forward a little and lower the left gripper around its body.\"}",
  "call_id": "call_rLx3MrIEk0oSB4kA3RZ30uhw",
  "id": "fc_07d29d1e2f1cf04f016ab423b4407087d08cc391325ad0610c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rLx3MrIEk0oSB4kA3RZ30uhw",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.5906, 0.7479, -0.2806, -0.6926, -0.7425, 0.9968, 0.0685, 1.0286, 0.8906, -0.7403, 0.0845, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.3051 left_y=-0.1558 left_z=0.0474 left_yaw=0.154 left_pitch=-0.2131 left_roll=0.1472 left_gripper=0.9968 right_x=0.292 right_y=0.0087 right_z=0.1746 right_yaw=0.0408 right_pitch=-0.3182 right_roll=-0.1236 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.4598, 5.4496, 1.1746, -0.4127, 0.0269, -0.0122, 0.0068, -2.4821, 6.9265, 1.5409, 0.1245, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0decd995265ce66ec8c9673e840694f3678a57c38141475d46d8ac7c491e74a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ea2e2a1ca218292b04bcaa11f79b559efe168012e10e969bb091bbc1c5de29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1822c40c2acbef2ca2e8c405900337cccd5cbabd2e624526c468f3f4fc4659b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3058, 1.7927, 0.7258, 0.3008, -0.3752, -0.231, 0.9967, 0.0521, 0.9932, 0.8589, -0.6838, 0.0734, -0.1062, 0.9965]\nstate[eef_state]: left_x=0.4191 left_y=-0.0607 left_z=0.0215 left_yaw=0.119 left_pitch=-0.1425 left_roll=0.0969 left_gripper=0.9967 right_x=0.2952 right_y=0.006 right_z=0.1802 right_yaw=0.0375 right_pitch=-0.2585 right_roll=-0.1173 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -10.1402, 7.6786, 1.5116, -0.2564, -0.0317, 0.1538, -0.0342, -2.4137, 6.8034, 1.5018, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8673, 1.4746, 0.7971, -0.4355, -0.7074, -0.7719, 0.9968, 0.0696, 1.0294, 0.8909, -0.7269, 0.1028, -0.0769, 0.9965]\nstate[eef_state]: left_x=0.293 left_y=-0.1624 left_z=0.0848 left_yaw=0.1276 left_pitch=-0.194 left_roll=0.1244 left_gripper=0.9968 right_x=0.2946 right_y=0.006 right_z=0.1769 right_yaw=0.0125 right_pitch=-0.3031 right_roll=-0.1215 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -5.1761, 8.6085, 1.1062, -0.569, -0.0269, -0.0122, -1.1692, -3.6855, 9.3744, 1.2479, 0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.5906, 0.7479, -0.2806, -0.6926, -0.7425, 0.9968, 0.0685, 1.0286, 0.8906, -0.7403, 0.0845, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.3051 left_y=-0.1558 left_z=0.0474 left_yaw=0.154 left_pitch=-0.2131 left_roll=0.1472 left_gripper=0.9968 right_x=0.292 right_y=0.0087 right_z=0.1746 right_yaw=0.0408 right_pitch=-0.3182 right_roll=-0.1236 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.4598, 5.4496, 1.1746, -0.4127, 0.0269, -0.0122, 0.0068, -2.4821, 6.9265, 1.5409, 0.1245, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0decd995265ce66ec8c9673e840694f3678a57c38141475d46d8ac7c491e74a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ea2e2a1ca218292b04bcaa11f79b559efe168012e10e969bb091bbc1c5de29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1822c40c2acbef2ca2e8c405900337cccd5cbabd2e624526c468f3f4fc4659b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCO3aqxB97kgczeolwHvtFnjfgwNplR0Pjc12mSnLJEMoUoSMf8L3KnPSVMfll_GM1rGQ6UYqk5I1CdaHoObREIJgxqZ8saCG03rOvqtXh1m2rOCGt0n3LJSbzdkRgXWkJ5Zc-BuiZM38y5xlcAOvBYZnDau9L1YC7mJnHk-dYXkxQBeSxH4l3uvxs10DVagAQ6jkcDMHs8mXlnL5KF4FrmuG81KadvMYp4-E0X--_MWzZacvc4wA5hLD0nTg9z5LwtwO3o843Mo4M9877o8LIJwzYFIO65RNGC7w-otcott6dkhHOrzTzpjK80yCRFEgajHGLmYCiYNrU2FzM1UEX2LMMIB_Ymtvzv_u8zQnuKMx8hBMdGV8W3zGGntgwL5wc0jR898CnEcjg1DKe3L-M2lmE-i4fSQxjCOvieLTczO_Xnc-hRGE08NIwQqZC0PJfr8QYaPj2jf9ymF08adNXZbg6bH86D6jkkyrAAlXpmC1GhmdvRQWoBMD_RMMBxT7PuDZlcHPia7QYFfNiRsMTXKGqf-5DzrUsFKMfjg0g3fATIDx2jat7DeGoRadKUjMB0BInFwsVJicFJ7QttCc-uwCBS9-HUpR3SrVKmE7GVH135U9atK-NhJ0uxFsDYJrYMj1anHTr0ong1yDXQbsm9J2S-91wRqSdDrvdFW_-y0_wDauMzFlBJPICOKnSB1rUm-L6rfHaaCweNP6QbjAxuStY-VX0xnEhvhMkeoVrpv1eSYu4IzYugPBn7TgscDglQxumO9zSRmtFNeotFQQSAHMP_6gtHAUZhRgNSOYxiE2qwJh4m7FeqMt6jws95XqcPFpsZx5-Xr4CSF-ctqRnyKpLAStodSW_CnCq60Aj_lDHkywnNRSkESciV39URuHKwiMJ2EQLTfWE06xpWEW1yxU_gFLIMVl-xzRp9b7QGFY8ZGX41CRzmP2R9u2tF7lzKzfZMmxIplbF2IoM5SAxxPk0ewwCkO9BuE1qqmo77R_CT9KNuI4BjVw4Rurp1J0o_AErshWWBqH9Esl7J3UDBmxDsGAmKT2lvkN0BC8fXnsN1_EshOdDZX_PU5X8dC27mX2rMZc_jS64qwkJfresLus6Djq5QrIWUOAuewCEVawuqGDN34MqiSjtDGDAvtKXxypWHFEdjU84ZPz2qmJsg-Y_s3rVuRlN_cZsSI6q8bEfL6LIFlk1U9g4mZ5DYGLRVRLgGu6-aLT4_HXGTnGErzd1uhz0-F5rFsiERa4bO128ZO8EERvSTMAlBOHMS70cfmLCdeO4TLE6ayDCCMf4DN_2tTLzERBo4OgWuKAaFAUOf1pGiDw6FoE6cc80dXTzvK",
  "id": "rs_07d29d1e2f1cf04f016ab423b6811887d080a99c9d8d3f59e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan plush’s head and upper body now fill the bottom centre of the left wrist view, between the jaws. I’ll close and check for a retained jaw opening before lifting.\"}",
  "call_id": "call_Lemka9ddXPpTp5RGBtF5OMxT",
  "id": "fc_07d29d1e2f1cf04f016ab423b6ea4887d0a66890dab71316dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lemka9ddXPpTp5RGBtF5OMxT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.61, 0.7292, -0.2687, -0.6891, -0.7414, 0.2088, 0.0689, 1.0306, 0.8906, -0.7441, 0.0925, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=-0.151 left_z=0.0368 left_yaw=0.1606 left_pitch=-0.2306 left_roll=0.1686 left_gripper=0.2088 right_x=0.2914 right_y=0.0073 right_z=0.1735 right_yaw=0.0325 right_pitch=-0.3236 right_roll=-0.1285 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -7.9795, 6.8308, 0.8425, -0.4078, -0.0415, 0.9451, -0.2256, -2.7419, 6.8991, 1.4481, -0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c4f4b6f709708ed66e40e54a72e4a2eac5ea6c2b4ec8dc4608ba48a7e0929b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53aa390058c524ec347c559874b358cf3352970b35c8e465573daee69cec6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f751675c4658fa8de85752679f7faa618e64943fd81addce8bc55eb2431ec5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.9218, 0.7502, -0.5808, -0.2787, -0.141, 0.9968, 1.1519, 2.1365, 1.6844, -0.7967, 0.6716, 0.8864, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.006 left_z=0.1758 left_yaw=0.137 left_pitch=-0.1584 left_roll=0.098 left_gripper=0.9968 right_x=0.2899 right_y=0.3897 right_z=0.0843 right_yaw=0.0575 right_pitch=-0.2806 right_roll=-0.1206 right_gripper=0.9965\nstate[joint_eff]: [0.253, -2.7419, 9.7299, 1.5751, 0.0024, 0.1587, 0.0024, 0.8137, -11.2889, 7.9521, 0.4713, 0.5641, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.5906, 0.7479, -0.2806, -0.6926, -0.7425, 0.9968, 0.0685, 1.0286, 0.8906, -0.7403, 0.0845, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.3051 left_y=-0.1558 left_z=0.0474 left_yaw=0.154 left_pitch=-0.2131 left_roll=0.1472 left_gripper=0.9968 right_x=0.292 right_y=0.0087 right_z=0.1746 right_yaw=0.0408 right_pitch=-0.3182 right_roll=-0.1236 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.4598, 5.4496, 1.1746, -0.4127, 0.0269, -0.0122, 0.0068, -2.4821, 6.9265, 1.5409, 0.1245, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.61, 0.7292, -0.2687, -0.6891, -0.7414, 0.2088, 0.0689, 1.0306, 0.8906, -0.7441, 0.0925, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=-0.151 left_z=0.0368 left_yaw=0.1606 left_pitch=-0.2306 left_roll=0.1686 left_gripper=0.2088 right_x=0.2914 right_y=0.0073 right_z=0.1735 right_yaw=0.0325 right_pitch=-0.3236 right_roll=-0.1285 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -7.9795, 6.8308, 0.8425, -0.4078, -0.0415, 0.9451, -0.2256, -2.7419, 6.8991, 1.4481, -0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c4f4b6f709708ed66e40e54a72e4a2eac5ea6c2b4ec8dc4608ba48a7e0929b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53aa390058c524ec347c559874b358cf3352970b35c8e465573daee69cec6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f751675c4658fa8de85752679f7faa618e64943fd81addce8bc55eb2431ec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCO-MG8opDul32OpXTgh7aFU95DNIAiphGCSTQ-6suqtbgxUJ-KnVh4GaSXNLr1Mv3398F8dZMITlAAgAUmri2pWskc6P1DZPoFw-GRnEMvPaPgslqA7y3MS2plwJrI4vz5yMagEyKixTn1vVgtGilEl1Oay0Nnz-TAc8TrUERFmgHi3N3PpO1TclWk-mZBq6gRfLJYRE5x_imc8Z84Jxw2y2L29Tj7l2rfkp0Sk7IktI4SnBgs7iHmcBPD8pm-LonZ7kUWrwQ623ji9CrbrwNsmENIZ5H2bdDXJznhnJ-P3FoneHACJD9jBDx647owtdgLtsFrfK_IJoc6Mjg8ZVhnY1gmoCUVft4uXT5UnLHg2RmxGODCDO7xvd31GpoLYQuA6UoNvqEhB37YAhhdNmT1HVw4ayiQvpPhLOLObBJwx9aIUhBm5eRQtzHTgRfRNVKzJ5Ii9gXA20xURHmGty3BOypzw1du9DrRJ9bQCDZMA1m6NAFdEr3_X1CvWar7gMO66oTBaXMw_fnfBz4x_0AkRyHEzuy6_nVYSIMM1B-rfYscUGyChy3KR6nTVNXL8O_tr0iBGu0lhhosKZywekDuyait5ASuWpQsHCfVmbnrG54yq-UoCtga8zCnrn68YLyDPxLH7aYQLEriHK6Tj01kYPXp4K902H8InU1zwxmVC8EwZHQ9x6_OAbL53Ik6wQVkWPh7tr7saaUhd3oJLh-7ekuiUiTgkSW_03RrlZ-Xc_xbymPNoJpt5Q0bXAeiiHR0pS79W7d3uW6vEF0vzHoLTckjHpJMvEu8C5_iV7LabLAAIBjLhxAjlmnz7ywpZwMxmPRmlVDtIHYWM8TTzRZuqukfFMdngwJs8eLr-4KynCO1mrqL2eYOS86dDOxD0MC_KzwzePnrIqVBowCjoYS0AOME8I_-TLl250bUdBXCZKm7Sf7CzCHN5Hub8MHX12Q3yGNOXMC2HyARiDOX1YWiMQbEzm_CwG9oYwSnl2JBx1wNEpdzMz_UGYwMZrTkaPLi5hAx1KQW6K7AqU4y2snTlNez4E2WhLmpdpJ65cir15P8djMILSna7_tzD5Zrt4AHG8vJ3AVQdcuvi0d8yBCso6uFuYOSBtnn5sFmFZGilJhBzElfWGq8zRSzIRTmuQHPzHEryYMmnWUIVUs6tQHUUZRCZ7UndjoVIb2_yaVUJW1xXiMX-FGUA62J4s1XBJuixNRQYGhPzhqX2aE3fqvefZCUrCZrJPCVWk0qJhXRUVhoZ4fdmkjG-aG-a8wN2yXWng12HrER2rbQP-BsFX8LK0FiAvmmFyn3u3rdlc3XWII7BS0wAo2d4QVN-aEjRQejTMctMTBitUR5qXFgrTVrOYqpgI_Sm6b1HUkSg2PjGmkl8S2jS7H-fT8d5gW2sEqbkGfW7kaDFGZIwUMg7RL8LaTwpfL9MvaUPzkYFl1IVxipH1F7HY8abQLR55DBxDi_ZZCrTzi0DcC1K6hrsxVwYmm572oH5_91ocFbANEF_Xymd6euKV1Bd-TZb8_MlIrsRXzS-8gt1ZxNjDQg5x9Kh2kcG4mEvisW06CAmnvpuUZONXfHHgy2SabRILkruzKNBvTNzti4TTG4y3wW6qLOa7dDc9TAEBkE_3DKVa-F4knBVqZ8uGiHZUOmiZGAJze_E441VOYYRXZpMsieFemFiFfOHDqhzXmQhGQB4LDbyaWiRg1QlFA8Eu2H2LgZ2UKwJiiHCPrm3WXMn8fwYj5eQ9VoefZI_6jRrv0YeQmPt-46ajnbs476qTTlhKMZBp3wkK2niC2FfuI_TzRyazqFDVc7iXm36m4KBLPXVP3AHapFY4AzS9yufGERmMteUR09whSAxb2GovCVQKFsWFuyEPzWPHPvmL87G7KpazSKcfP-LTgYBF64GHy0ZKNAvXfgX-IAzi6-xVwANt6wlapPK92jFPuMpsydYIilHpABrxI1axrQ1s9gig_rrTYIu2LXvOMafxj1N8ZUyJ_DlX-1aEMWpvFhl89D18rCeFZObQtAVECoaJU_JQMOkrMguLl36SUzGG5LETWLJQt1ADrnHNKOEakkBucMhwf_NzO7g5jRtfm5yfO6-lUSKcpszN6i6q2hU37XVhWdO4j3CEZmTJgtFz06LRIDCoHeBwXQmKdEIzUjV4la0XbekR6UEwHysgYtL0adTBIwuJ9DKRa7kMc5EMA1d6iokAArj4kcJ9gHfk9rERd8aqniRb37oXgIl5f5JgdlP2RQu_nqsyJzNTfCufIp4BRwKiXTzsH82I_XZM3NAPDF9MxsaVaJd1H-VKq1AjMyYQJM3psPxl8F0ZK_OPGZvE42tmDLOZjFVTe-HOyZqiKKwV7s2epPrRZpqslJZpbM3Wr2EK17m1Lmnl5y7-3RYSSG65gzhet0rT89ND9bHgpl-UaLdf06aXET2xhWZMp1oEK3Gn3X4TllodJLxcIc7n7r7KM49OkjzcQuTXjP2snVYn0ZSfmLh3nyrArnUMGzcubUxwK7AWz0hZg==",
  "id": "rs_07d29d1e2f1cf04f016ab423bb998887d0bdf789b46e62a31a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.25},\"note\":\"The left jaws settled around 0.21 open, so they have a firm hold on the second tan plush. I’ll lift and carry it toward the right basket using the left arm’s maximum crossover reach, then check where the hanging toy sits over the opening.\"}",
  "call_id": "call_MFpE4cWQqahTiEuxjMGLNtJT",
  "id": "fc_07d29d1e2f1cf04f016ab423bdbcc087d09467d7d0b84d351a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MFpE4cWQqahTiEuxjMGLNtJT",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8982, 2.619, 2.8784, -1.5444, -0.6968, -0.8795, 0.208, 0.0689, 1.0378, 0.8902, -0.7486, 0.0929, -0.1013, 0.9965]\nstate[eef_state]: left_x=0.4205 left_y=-0.3402 left_z=0.1675 left_yaw=0.186 left_pitch=-0.2802 left_roll=0.1945 left_gripper=0.208 right_x=0.2909 right_y=0.0072 right_z=0.1707 right_yaw=0.0337 right_pitch=-0.336 right_roll=-0.1313 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -18.0581, 7.2137, 1.0037, -0.6813, 0.4957, -0.1001, -0.1026, -3.2889, 6.7077, 1.4628, 0.0122, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6c595cc5b62addb1b905158b5c3601b54fec6afc44849cca74560961bb88a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f2bb78f56bd9992cc36b149e47bbcfb9325ea8fbd2f373a14428e0c04dd8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d0b55e2854dc82881a2c13709eb38d073d36774214f263f32fd996af5aeacf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8673, 1.4746, 0.7971, -0.4355, -0.7074, -0.7719, 0.9968, 0.0696, 1.0294, 0.8909, -0.7269, 0.1028, -0.0769, 0.9965]\nstate[eef_state]: left_x=0.293 left_y=-0.1624 left_z=0.0848 left_yaw=0.1276 left_pitch=-0.194 left_roll=0.1244 left_gripper=0.9968 right_x=0.2946 right_y=0.006 right_z=0.1769 right_yaw=0.0125 right_pitch=-0.3031 right_roll=-0.1215 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -5.1761, 8.6085, 1.1062, -0.569, -0.0269, -0.0122, -1.1692, -3.6855, 9.3744, 1.2479, 0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.61, 0.7292, -0.2687, -0.6891, -0.7414, 0.2088, 0.0689, 1.0306, 0.8906, -0.7441, 0.0925, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=-0.151 left_z=0.0368 left_yaw=0.1606 left_pitch=-0.2306 left_roll=0.1686 left_gripper=0.2088 right_x=0.2914 right_y=0.0073 right_z=0.1735 right_yaw=0.0325 right_pitch=-0.3236 right_roll=-0.1285 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -7.9795, 6.8308, 0.8425, -0.4078, -0.0415, 0.9451, -0.2256, -2.7419, 6.8991, 1.4481, -0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8982, 2.619, 2.8784, -1.5444, -0.6968, -0.8795, 0.208, 0.0689, 1.0378, 0.8902, -0.7486, 0.0929, -0.1013, 0.9965]\nstate[eef_state]: left_x=0.4205 left_y=-0.3402 left_z=0.1675 left_yaw=0.186 left_pitch=-0.2802 left_roll=0.1945 left_gripper=0.208 right_x=0.2909 right_y=0.0072 right_z=0.1707 right_yaw=0.0337 right_pitch=-0.336 right_roll=-0.1313 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -18.0581, 7.2137, 1.0037, -0.6813, 0.4957, -0.1001, -0.1026, -3.2889, 6.7077, 1.4628, 0.0122, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6c595cc5b62addb1b905158b5c3601b54fec6afc44849cca74560961bb88a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f2bb78f56bd9992cc36b149e47bbcfb9325ea8fbd2f373a14428e0c04dd8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d0b55e2854dc82881a2c13709eb38d073d36774214f263f32fd996af5aeacf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPEJMFBD-etOH_nS8QzIBG8688wSi_EjliHLZwP6RMWkPk2T4EpePXwd8QVKMHVI0A9yp2iklLI3A3YKLk4N-_2F2OqBKskv_f6Xhm36l1vOdXxkhMkCpmifmjsea1zr-nA85seBr-_AAvu5wtd53zvA9nxvPT-wiwPKMa6Pja7rthR5JwNYcOLvyiAGfHXaVMhPdVIVjb8PSq4OGKFzWnIr6_0C70LEHi1deuNBoBNvS9v-VTShgI4ucyrhwpOPa0XOpvYEN3Jku9zl-7L2GmuM1mA1b2LMFifia6hYgwSxUicNMHTncHXH-EMBBZ7JcKlPIzVEu38VLKhSGCn8fm2bJATUO0QQFmdgcAu0njaLNUQSYLtAD1TcGngDqBK0ZyZJLJk4AWm5StPz1vtaA9uY1R5SjbT0ka3YEZOwXa8cSQcL2N0Mdtm1K37GuHGZc3i9S7PBNlUjTNMgCCMvYeVLfq1uKZqE2YWUjkjHmX8DNqX55mFyJCbM_orGBVMzv_i8CW7ahsP517VHxOxNNQu8jQrNhz_aLX7GWUCW_frcjuxuhqRuTlo77hshVqPfoUUdE5ieb7EZIf6ltZEVo9JkoU5qsXRsJTI_U-G3UMvNymxlK6QcMfCn7mMYCtfgj3I5dd3D3_O9H_Py7J9eXI2eZVTJFfc1ADtwENtcvHLV-qTN7hUdLmwStEa3yi97LMRz1uZXbIzobmcLBVPtg1g_fgQOvdBsCmBgiltr7ff-c734dyPKCLZlZlYHOG0fV1uCoqnkTc6TDFaKqqce9W0yrrvwJPTjoJUxeHefA7Yds-lUcfotcUfGb2ZzuCG_IYiNqHTp4QXKMDOgT7KPr_OlpiDEN2Esf13CxMlrVy4jCBIPh3FrPaSc-EA7wU1JdaCgOsE-ikHZGs-VeE_hfRbHlmanYZ4bMnj7M_nl3H2CLUuVf5i4Y0mgHxJstKTLf8bg30bhVlL9Une6xb_z2Gx2uhk_qeShChaDrErBo6jvck4QaBn13OXj8TuSaDLA39gtLfJhs1nUl_mFak6rImnSfclz8ZI-Py7_6om-My4-195WtLSW16WRnW7GkTGgNAy5NGtz4AS5QwRK2fHKpbTpkgW-2GBgoY1qBZJ_G8Xv0j6MYQ-78j3pjbVoacSazZ0OLHl4X8_4HY1kd0NxgEjVR-R6hqY0wK4pkARQhDvZ31TOVCbxblOQhIcl2XWJumSXNr7odjGMsFn-ilGflamC4OKiDc6gGxKYKpWvXRLdQfDRFFaqhni_XK2Q3wjn-o2EHWB65IsBaGHTBmjw3ljTI64NmSzKxhppVEyDf5WYXAqipLhoWEAi_8wFJYo7v7LljhcvKOlm78mHty78IObPGKUKYyr15BBCkz508UZ1CvOZwK74Mc8MOHVYW6rL60e6EvqhcsALBlEXy9fT50jlpxy9RNupRG76cn1m4-kpHnpmD9ySf6zw0yHjjo1vvesvkoqjAjuPp47X0izSpfkwKEy6Q8ozFb_tujCPLSHhVElmFOFLlaebqDwQj95m-ncH39WaluXl1DxeZ9QkMRderxYtipYPKanPsxq2C7dIixiluqSyIUr6yYn2JucGBGN8-13PeiCBS-uIcVUDLgqhE42zedaQkTH1_UZlFlyiOdBaUm3qcCL3f7J-JQrkeTGCLKgvctW5c9iJOgO21noI7fVd3WWeFAebIjY_BUDb4mM87LXiix_vVxXIPqPKl0sRlf3rhUU53kFaX5TYWc9yXuFCD-UsJhNtgVJiCTDzHcDoGa4CLHITvn7q6L1pObbraV4WKlMtbUPHnUrMzyPfucxOKraQ57mv1GWYML0hv4GMWJA6kGmuTDRS2kfE9B0",
  "id": "rs_07d29d1e2f1cf04f016ab423c2b95887d0b123b7a5cb6eddc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The carried tan plush is now over the right basket opening alongside the first tan toy. The left arm is at its loaded crossover limit, so I’ll release it here rather than forcing a farther reach.\"}",
  "call_id": "call_IfiEOWOXlGP7rN7KN0ezDX8Y",
  "id": "fc_07d29d1e2f1cf04f016ab423c44ef487d097c619094e32422d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IfiEOWOXlGP7rN7KN0ezDX8Y",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8967, 2.6179, 2.8777, -1.5547, -0.688, -0.8989, 0.9953, 0.0689, 1.0378, 0.8898, -0.7486, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4189 left_y=-0.3388 left_z=0.1664 left_yaw=0.1971 left_pitch=-0.2902 left_roll=0.1861 left_gripper=0.9953 right_x=0.2908 right_y=0.0072 right_z=0.1706 right_yaw=0.0339 right_pitch=-0.3364 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -13.9829, 5.5726, 0.8278, -0.4908, 0.1392, -0.1685, -0.0205, -2.7145, 6.694, 1.4237, -0.0024, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28973d1e78a26296942e9b50c7794e54b3e5ac41b958eecfef4ff67211ba93de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf86ae60ffac9cd27925646c766000c7946538d31ae76ba60d471e860675fabc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b3f7631829b2a0079b4c342f114cd8872c4ba236ae7fbaa8455edded96e8c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8188, 1.5906, 0.7479, -0.2806, -0.6926, -0.7425, 0.9968, 0.0685, 1.0286, 0.8906, -0.7403, 0.0845, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.3051 left_y=-0.1558 left_z=0.0474 left_yaw=0.154 left_pitch=-0.2131 left_roll=0.1472 left_gripper=0.9968 right_x=0.292 right_y=0.0087 right_z=0.1746 right_yaw=0.0408 right_pitch=-0.3182 right_roll=-0.1236 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -7.4598, 5.4496, 1.1746, -0.4127, 0.0269, -0.0122, 0.0068, -2.4821, 6.9265, 1.5409, 0.1245, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8982, 2.619, 2.8784, -1.5444, -0.6968, -0.8795, 0.208, 0.0689, 1.0378, 0.8902, -0.7486, 0.0929, -0.1013, 0.9965]\nstate[eef_state]: left_x=0.4205 left_y=-0.3402 left_z=0.1675 left_yaw=0.186 left_pitch=-0.2802 left_roll=0.1945 left_gripper=0.208 right_x=0.2909 right_y=0.0072 right_z=0.1707 right_yaw=0.0337 right_pitch=-0.336 right_roll=-0.1313 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -18.0581, 7.2137, 1.0037, -0.6813, 0.4957, -0.1001, -0.1026, -3.2889, 6.7077, 1.4628, 0.0122, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8967, 2.6179, 2.8777, -1.5547, -0.688, -0.8989, 0.9953, 0.0689, 1.0378, 0.8898, -0.7486, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4189 left_y=-0.3388 left_z=0.1664 left_yaw=0.1971 left_pitch=-0.2902 left_roll=0.1861 left_gripper=0.9953 right_x=0.2908 right_y=0.0072 right_z=0.1706 right_yaw=0.0339 right_pitch=-0.3364 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -13.9829, 5.5726, 0.8278, -0.4908, 0.1392, -0.1685, -0.0205, -2.7145, 6.694, 1.4237, -0.0024, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28973d1e78a26296942e9b50c7794e54b3e5ac41b958eecfef4ff67211ba93de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf86ae60ffac9cd27925646c766000c7946538d31ae76ba60d471e860675fabc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b3f7631829b2a0079b4c342f114cd8872c4ba236ae7fbaa8455edded96e8c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPIHC9ErsQTsBQnoNJn0x9bBvT5lqwo8InTcZ9gHDe4vXZ0PYP0VAiNNWpj_jUp4bccveLWJde6hXckko137bF_LMKqcGwe_ajPAFJ0Hr34RG73KGWjEJKoyipESM28qUQ5zI9C_xlaReTIbUgvWVnurezTuOjXbuQT6T4ENaQKj84d1h-txb4m00v7wR7eVF2ZV3gzH5Nvpmivyt7YceCiYbxHVZctUeDqvMQuWZUsgVOccsnvsVAwoSZGebVfa6FiytGqLTSzxDlJzLslQO_WldLfJV8avZWrD48A_McyaJdgg2mqjAuIXMS26sSZGdin8xIsKfXH7k_zLQ-edaN4qhAJrm_0eyRzVKOlxtoE-F_VTE3AgXiDCYwzrCK1HIiUElTJN6UgW_iBtHKP9-89O3PhH_lZfjiHyQKDgdLMjvm1HDdvlvbfxsZuDUEquBnRlxR40Qox9Erm0Z5qe2gWf9g4cnk06hQe7J61mwXQ5U1zFOC2HddDln_W5Vwrg_ZQ9L3gFtv_9adrU_y3fZJOgEtoQ74vLXxzQ87agnAoNPr_FxeqKS8-NuYW8MKqZUwv_6qrOeC5GsMX-dZBo2K5F8SOt_4pmQt-lzAO47UjDTGf5xHeVVnjX5nkleoBvxqn37dyE4A_iRUlc10B_hx8eL-W0EzAhxyX72A4NltP6jxqbZPkg79jPqdJUb89DUjBW0zQARve-8tSoInN-8Mu1K6H-BDANlCWvYVFaS6NHV-56Eox0jhuEVka4IE-iFFgam2fUjpTRhSZYLzQXCueQrDKvUrIVH8Fzcv2L0TSNpAGZAsdBfywziH6ew96hpurm29qhiy-mStAHKylBPppEXKyQ5B0j3Y1WHIc7raj2Edwejop34AIuI7fOcTMFkIOjWPmBTtWyAk6tubdFuR_ezVkGWiICiTGXTcUj6ss5P6F8EWWW-5FGqCYXnQ98Yf-_MVork0tAaCazdj9qxU3g5xuF2Jay5JSUBB06xgBX-NClnvU4CxxCuYNXLB0QyphFGody3bcW4lXcyqTp58MNaZhtFgpDj90c1J0MlrlAcMPByLQiWG2ZTu6wh6uLifYVb2hJAtBw_EkQ7bg2GcVXYeCaH-5c33hnhNVBDZSp0Gm69lU0iOofteVcnjrQilBs0uKgA9BzIQvxqouHWWDgEmKa5S1KONcafo8on5Rf2FdVcbDPP3PJ1gMFH_rnE1SKpmPGlj6sdjuA1STj3Y1vQvXYHOQNtjaqkJ2V-dMhkTDVa3-olsjfgGQGHPcbnp6K9PdHOzQRZq-bRlzC15u_9h9Is82WswfcmCrPTmese5xZY7ewtkbCV2accLeTDbwgMYYT2ains5uaIpC1PF0muutTopH_v430NJkz2mauE-jHY5xDRZ-8xxxwNoYegpV3TbX9J0PBvB1x_5vBHHIWZxvWueZf-OGuelt7d49mpPEZptJwLrnIQ4ni2T8CAcWp1CJ96WXc2cc8ICd9Adn0ZK5XhFYQZ_88A-9T1rNMK5O8VWb3hc813qObPvsvg3c3DqqwKn5viLizaMe2Z59IozxkhLRGLCCkqVjMhKVYaR4H5fkdCkK1T8I8Vy50lx6RvSfsD_hBBZgMcMALQO_4JVHzMlV0UJr_WNQ9mAT2KaC1mQscu82rCHTabMegj-j6Hvhnk0X0oFCUQbMA18fcpfyKU_UrOv_sHqqgyEdy5eu0mFvkLMH6Q1p1kn62K0xumydI6d78_ADkhf-u0GwLXkEEfuCbFnwPikKvt041VgTgjONBtFHapXy48G_kUuNW7rLas_c3nq3S059-dIkw5ZxmYIGLGbeY1uEtUA4mDK9T2E_w2XHVhc80uX3sHjjmTJQ0PNJmL4UcQRKiiXI0OgNlWEKfbnS7_n-PRtUnsgGotNjmu0xZ0wXjyzGqboJxwKpHFXqR3Sy_u_6ZmcwwsrmFBMpRUuhLgvB22uqpjFKpJDJ06049JgEmRizIrW5UJYYd_aACNgya8m2gRSKUA==",
  "id": "rs_07d29d1e2f1cf04f016ab423c6e26c87d09b4d0bdb92aad118",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.005,\"left_z\":0.19},\"note\":\"Both tan plushes appear to be in the right basket, while two gray plushes remain along the left edge. I’ll withdraw the left arm from above the right basket, then approach the gray toys from their forward ends.\"}",
  "call_id": "call_FEwFsevhy65KH2MVhR2uBbWo",
  "id": "fc_07d29d1e2f1cf04f016ab423c8307c87d09fa28a549bff5e99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FEwFsevhy65KH2MVhR2uBbWo",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2245, 1.121, 0.9829, -0.8146, -0.3935, -0.2413, 0.9967, 0.0689, 1.0435, 0.8898, -0.7498, 0.0929, -0.102, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=0.0047 left_z=0.1855 left_yaw=0.239 left_pitch=-0.3043 left_roll=0.1843 left_gripper=0.9967 right_x=0.2909 right_y=0.0072 right_z=0.1688 right_yaw=0.034 right_pitch=-0.3433 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.9453, 6.6803, 1.5165, -0.2173, 0.0855, 0.1392, -0.1709, -3.1111, 6.8171, 1.4628, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87ce5cbd92b4b17ffe714368e3174f737fb431a79a0bc3e205faf0eb904a75b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fe07f075ec4971cf0c7dc0c90f137299f63c08a707ce818e33d1eedafbe676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3160e82748e1bd34e7ab6b46d68a6ec13c627894beea01c6e829c8de71ad23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8146, 1.61, 0.7292, -0.2687, -0.6891, -0.7414, 0.2088, 0.0689, 1.0306, 0.8906, -0.7441, 0.0925, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3018 left_y=-0.151 left_z=0.0368 left_yaw=0.1606 left_pitch=-0.2306 left_roll=0.1686 left_gripper=0.2088 right_x=0.2914 right_y=0.0073 right_z=0.1735 right_yaw=0.0325 right_pitch=-0.3236 right_roll=-0.1285 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -7.9795, 6.8308, 0.8425, -0.4078, -0.0415, 0.9451, -0.2256, -2.7419, 6.8991, 1.4481, -0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8967, 2.6179, 2.8777, -1.5547, -0.688, -0.8989, 0.9953, 0.0689, 1.0378, 0.8898, -0.7486, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4189 left_y=-0.3388 left_z=0.1664 left_yaw=0.1971 left_pitch=-0.2902 left_roll=0.1861 left_gripper=0.9953 right_x=0.2908 right_y=0.0072 right_z=0.1706 right_yaw=0.0339 right_pitch=-0.3364 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -13.9829, 5.5726, 0.8278, -0.4908, 0.1392, -0.1685, -0.0205, -2.7145, 6.694, 1.4237, -0.0024, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2245, 1.121, 0.9829, -0.8146, -0.3935, -0.2413, 0.9967, 0.0689, 1.0435, 0.8898, -0.7498, 0.0929, -0.102, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=0.0047 left_z=0.1855 left_yaw=0.239 left_pitch=-0.3043 left_roll=0.1843 left_gripper=0.9967 right_x=0.2909 right_y=0.0072 right_z=0.1688 right_yaw=0.034 right_pitch=-0.3433 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.9453, 6.6803, 1.5165, -0.2173, 0.0855, 0.1392, -0.1709, -3.1111, 6.8171, 1.4628, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87ce5cbd92b4b17ffe714368e3174f737fb431a79a0bc3e205faf0eb904a75b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fe07f075ec4971cf0c7dc0c90f137299f63c08a707ce818e33d1eedafbe676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3160e82748e1bd34e7ab6b46d68a6ec13c627894beea01c6e829c8de71ad23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPVZXx4NDBFn1VdQo4l0yLUiwPOxzKqezICM1zuQcWUJIgS0hECuiF3E31oqZ1Ia9awbp2Lw-x039fNcOKl_D0zb0qNQNj2KC9TI4wt-gl1P-4lvTX2-YvIlsGThGhsHjqApssyrNDOR7_l8uzolozJVqM8LTNLJJl1PYxhN4mehShVJfET1QOUgB9VMFa3EsHnvVlapnDEubiGQv4HWGw3UE9YHCogTXkC047JbjQ3aw-JGweQFL1RcSFMw-EWFemJ2YeC2uCKRaRLaOrDZxtHsbxWB_hoqrFxjrBV06o3DPqEl1AHivAj1_6cCPJsZDYQc1A0WljnK4IhzAfkvk83RATnMxd9zxK4zHXGMKeAP9Gbs0Z5ABT2HZNLmPJEF-Psfnr4z2H5hA5lNQGWLVAydprlKYmmjbP4-D5mx8AVXCndlEI6gb0CZNv6qctVp4oy6Ji4vg804FdTN2-tAiRDG7sN0txvCH7AwLA0FdDS7E_an4o2jOPoRitcTtPSVddbY1s4j-Phazt4AJMIO8C-bXhg_Yh_Yi9XCi6OtnVf6GByw2xkohYwHbEHxnUI2ElBn24duMfDpY8L6LKYR9sI59mytXQwTMc6_DCAsCIol9gFh_N3jqGzlOOOwz51UMr3_loLLxGbR5eqsONxVAp5GFjiFxMpuTKlxzZdrtFznd4xSbyjTb9HBdiN1LVdKhq-z-ihOeXh-l4wWwB48OK9yJ_obw_KBMpbP0EDeMKnGmIRXa-RGhj4HH3R5DRiTFeyTD6FYbTHIJoV3LdkhnxAGNuRWmgRg5XH5CjpMTpR-rCdIc-vTdYrewvJQ3CHtKWVBhWcza-QT3s0zCplCcUDtLpYM3Z7FY_hLb4lp6CCx5zFH8cjS8vLBUKnMumG3wT-vCfz5SYOXGNIiWLC1ra72f6rXPs5bi-vnKjqil0BZzHy417goVDQ5gtrc4Q9KRmYLSyXCngPDM51V-hsYb78Ob-Ywfn8Y_8PLqDi_L9zqOyTLXjrk7ruOoJrLzUWsESdHb4oUvCU85UMAS_sGlzdIa2yywyazGCwPjTOPs6vFFG6QwDRoVZrlpCyoc2CDAxjvS70x8noSF1NCJdyITb1DIb73NkpHK3CEcWsdVcS4RAEfjjmkGpH6qOb0AIVK1ylHHENV7FAnIzEGAW94tGGUydJRi91HAisFestgz-wQ0ASB0_rHkWMF8A1498tWK2Tg-gevrDybJ4Pe-9vN8QVMiA40lpKZYdORQu5pURnJbMhdQfwZKvP5ayKXEZmT5_dlaIhR6lnym81aYrsl6xIn_X4JxaxUT4I586Rbot8HbMSB6WVosgmvMn2ICam48izcbTytYi0D9_sOKOGBtgW-73uCbxVIjhL45owE_UtAI8Kf1EvnHJbavuP4HUNZG_skluI6uWyz0yRDGeW-JePRN4n5nRgVruP3smFEZBRZpWZ4Xd_bTldKBhDFi-iSN0xg0J22CXYqOon3jZpIHUV6yxQ2gWyAvhyiphobnLoQphpCqdjR-6HG0Q5l9faufzKrDeWh-qMgOHqrsj0MQX8sskPES4eGCsVgeukipgrsHmnIeeCwcQGsYoL0oprK89StqjH1gY0PIcvxGe9Zm_c7X_4D_B6rfHcZcXtwhsk5ekD9VEwlj_3VEz3nn58WK-ogW4updG2C5XTb77sqnfy5t9acexnV49I5tFV8qZGokefSOuiEPcMUwX_zqJ0JLywN0FNPenXXLjxxBo2ZPp8_P_Ac9GPZsX4Jis_wtNf4f-rbmBbx3YJyOSNKdl-cNWOfih_WkvWIRAfm-D0zBh5yLkaXxhEUzp5J-36FfjpBOBICeT4IN5sRRY7DieV5WAErlbZ16liNfymx-aDXNFESXv7jZFfT2IKZbKYk1lmCEXrHufYAOk2Z4o1mbISMS_X-devY-nS2rOYiMiD5YelESAsL4MLP9BdADkkZJHTSTypzt6P3OBHBJ2V30DC5-i4NsEA8435R0Le4-ugwxAi2UhJYG4ZxS64IbzcLc-0j3bRdSw6zLbWCbockdPWCVslCkcM-pcrA1mh3-4hrS1rElMSdSq2L3-FNIzj-c_V1m1ZxTBGmNsuvgLkT0yorHC17Yxa2Wv5m2Ki0_-YJnp5jctPOL8uwMYx_SuTomUKHYqm9-Cz4yLXYlfJOR8ewvCFdjC1FFgAI8VkS6XfRJJfM-k_TdYwL5if9D61sBGY-jyOdJAerlyEFev36x9U2IB2R1txVsfwyehvbq6t3k7xhIVQT4awhyJN4gOTApqNieTbJYHxmXb-4I7y7LmKrOwxsUN9_rW-T-vpDnDpbN9mLJbVl5P5l5X3XZfUAMBFyJ9urQmH-fzIsLGlRqNoFo3v_6KDqUEg8miWypACcUgNrbHM7IowzGqQtOj8Fvh6USdV2zz_IulJ6t3HlncISasw27K8V59CvLraAdv7V1npUWA6ta3IneKzy-p4zCb__rnCZFhdI_h0Z0XzxhpIXoAeQX8KkqMv4jS9NrQJY5A5-TGLjBoxrs6Ghand6_xmHqTPo6QIRvIKQ1fumdwLD34CzItQj9PegkIX6gg37ZaMzahJ9Gw0Cr4fOfCfR1A_Lw8YXs2j8GJ3eyMm9GgMoM7SUptplx7rvIuyLwb7MUOeha21bbtkpLIDGNejIELtLDuIKeyKZfhTKFpMufE8L3xSd2g66Mp9-9GcI7NQQHeJrfPG3hgAT8IoTGUq0AASJWZ-tPu838DD8VvjMOE1fNN0zzzfyek5RiZhvAxguaCwak6DPpkIhg01FSV7E5e1WZHPGPtc6tqYy_M2TXSfGtlKu6eEgMs8wqGoAwPxcWnUr4eEMf2TabxNKUjuwvdV_FjHFiMUg1qGdkWn35JorrYx-qD4bwnGfsv4fx2ixd2HC1CQkGse7PmTFPDeWkxn3-grkPX_LiTSypnHw-kwHDHfw4CX2QhuXb4qLEWUrN8zjC2PXgdXFkBLsLszPvhPADDi7uT4OPTb65rxpgYEkh969JfVgai4ODbLkwOkxgla_BKOQBK3o7f_uL1l1eH9P3jllLiHx6jyRYPS3gkR-Rmzoh9E903YWAYiWy7uAR41gtxoyqOYEyUZce1G3IN6uy-E2fp9gllhGD1ZSVcj5nq3bAu-WmxQDoCCiD0SN7jLf0YLbdlRISpVNQG6gAV_bx5tlypFMApDUV1eYLqnwnILr9iFp9N6rkB2Jhzcz3ZcRopn6fCRgIS6KDjdrsNoR2eXfDyEUGQpo2KlEUheNndetAz72RysTvxieOl-izP8r4QTlQ-xDqW4cHQ4X2PHGLZPqrQj7OwUVB7RSv1rxQ3TFtyIMUws8m1RnDAzGn1idqO4dT6X_GncSoqLeSK6CkWRvNrGpGsfUxrOyoyEdjYUQX0oNmu3LQd7cjB8TYkoE8FdlECxXWajhK4lDvcXQtTgyIZgvJhb0pOTAXbQcbA5e3Za-CDYohGop4rUb_PZkxPRvTZZPZo5Yu3gMlLUCWFy_tFxbfiVfOsJHxmEOaHRQFd4J6EAhRYoKI_BvMUdqp7i_UR8sUHTuYbArppUCHiVcTTbaSUqyJQlMDDXsxwagZosjmvQvGxXbT4VxKeV1T4UF26slOlqTL3TnbMpfTX7acr3IiH9Vo_B2BKji6zibvh7u3ftgvOZsgW-MKnQ7w==",
  "id": "rs_07d29d1e2f1cf04f016ab423cd7fc487d09448a236cfb091dc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPVZ5JvDl16OC1AikXdsCZSD6UnJ4dW77vsrK4BxAvwn4bmseFKzL3x7ftySH57LRQNPQqPAffcujC7cOgmJy_sPxAhMeGVlSzRiogUH8XrNM0YbWY6n3TSU2nBw8yOQ6DxM-niwrV7H-KcaiP_0uSeUjNbUYAc_MWRbQ7KJNNlM6WDQV6g1F5YGDibmJTH9nqKVWGb3keIPuA169HQ8NvZfBc1lgRNYWj2rTobbb8ygJV_8BlBrAU895AJarjcyRKC2uHX91aHxlAtChXyi_hnIQ0PLRUp6fNCs1-zeQbNzsAJrdoQoBuuyapJnKEwbp2N0f0sudPPqmMH0R0XsiBDJsIx9Asryn9LyRwuuKpYqMv5dBOBdJdZioVGLB8TB3IbyRlJkCH0QzygMUgeLBqH-MozXOvZGvxZFkLZS_cNlN3lyJxLpNXG1y5OBea9R6Ioph6H3N3fBxzF0N75f8Z-q7OuMC9fmi-EPjhuj3Zw7-XfReutL_j4yFa49g3wfGyVeECn4mCPYExBIBBGBs0gY6q5OH-1qp4s56M7Rbt4FZsGACBhG69xMfPhy457we0qjrjisr6201GcuOYSyr-pOGR4OeEAqgPBXNJxBLTYXKECkAInnqiCv5FEt3q9vDf61HP991boK1HR0XjLHuev8Zi4EoFCzRwj7xbZu5hI30abO3ioTlrk_-N0vggxWcxSegMKIHLFbjZel4cq80U_AUBnKUkcIKrRHY1i8YHeD_Ayn96rBXn9dgc-gFYvkD0p3dGco7it_KzDgJ-K_vVRQAGwX_iDKXv6-dgRQUFUqCq_HnBGP_VNbA_1AHlSnxwGvRzxKK-PppzXzWbAc-JY_kS8v2VijJII38HL8dWO1qzlDtEgsNos1pHPRZ3q7AasJXV5lmSrhjOhdDNSgLR2tn218tS10l91Y5tDkVnBFjn3_DtkDxQYjFO84sLpHMm5iJ9-KmkX4UI1xCEsRijKdQQokCAMYAgypvxStrKwcQZVkV-wAh5SX_STyxl77yF-hYZI3o1pF_kE6wdonJvcdFx7cKN-DDNkpiu55XBobDkBCxqR6naoG3nhHqjkwmqNeIxB_5PBM0YLN8zJ2YekVEXnS7o6wJZXIehC1qOpJ9i4jfVP8oeAAsUmf5Zxm6KuewcpdsCkya3Y-XM1lPwleyDbHv7ZUwt9wJlkTzAYzW5y5yJ6b5VeCV8H1aPxi46RXsH8J369UpUSCSEVtFmMWzmjl2I31YrXSzmO4Kyc4IzRtJan_kGMtZTn-NhEMZd00eSC1TNIdqP8xgb9G2BPf7pkxTT4SCN9hDBxHjqGBE1Zt5zXLGZXmY9SRrc1It2410d7g5PfmPN3PIaPMhEVXHnnHwb0yiK3Ru3PKJC8L5y_udFD8hxc5J2kVhljWRSmZYvAfXXA_dvUtkC8Qp8dxxtjMxKphWk4ouE3sWXUJtxcqjyD1dCUEntZPshRTpdqc6YUlaLNVa2IF1Szs_K8oVVEcl4JHcKTWb2p_WwEOTZyZQ_R-MMM9vVBYnupyBuSnjzDuzcdvPFkIO2V12TXliWtOmYSKHNFFgiFN8JGrufdOCMBU3T1Q1nbf6V1NdTHOU-vaMGRW-xH2PpAG940aefT-1mIf7ugzwNtJ-IkcnW4hn6GS3k9pZz7TnEDuLxzdiurke2lBwpIVxpzhPgmzrsgGvISdzCS8VjYyNKnjzXFh3_pGOF8cKkCpbYLGsbsIXa845rJ_bCXfzfT8Yb_Ksj5Qw1MPoo8LeipHHRfBCg=",
  "id": "rs_07d29d1e2f1cf04f016ab423d310f887d0b925027057f4d27d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.005,\"left_z\":0.16},\"note\":\"With the arm withdrawn, I can see two separate gray plushes by the left edge and one tan plush still on the table; only the first tan toy is securely in the right basket. I’ll approach the farther gray plush from above, keeping the gripper high until it is aligned.\"}",
  "call_id": "call_cPjPTPsl0QNERHJOSGw1hOBI",
  "id": "fc_07d29d1e2f1cf04f016ab423d470e887d0beb8ec11d3f7f159",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cPjPTPsl0QNERHJOSGw1hOBI",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1555, 1.7187, 1.3575, -0.6338, -0.3576, -0.2089, 0.9968, 0.0689, 1.0473, 0.8894, -0.7506, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4424 left_y=-0.0031 left_z=0.1452 left_yaw=0.267 left_pitch=-0.3587 left_roll=0.1968 left_gripper=0.9968 right_x=0.2909 right_y=0.0072 right_z=0.1675 right_yaw=0.0337 right_pitch=-0.3482 right_roll=-0.132 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.7453, 8.841, 1.5165, -0.1099, 0.315, 0.0024, -0.1299, -3.0564, 6.6803, 1.3748, 0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c615704e4572c5f1cfa45380522aa26045b153fa6586b475f751e6aa1a45b1e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b239867be648a254ac25df2d816de93d4bd2ee6d8e34e83ae091ac361debddc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225234e43f87ca30f89ce2b6fb9705949ea009ccecd0d5d991abf0d4934198fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8982, 2.619, 2.8784, -1.5444, -0.6968, -0.8795, 0.208, 0.0689, 1.0378, 0.8902, -0.7486, 0.0929, -0.1013, 0.9965]\nstate[eef_state]: left_x=0.4205 left_y=-0.3402 left_z=0.1675 left_yaw=0.186 left_pitch=-0.2802 left_roll=0.1945 left_gripper=0.208 right_x=0.2909 right_y=0.0072 right_z=0.1707 right_yaw=0.0337 right_pitch=-0.336 right_roll=-0.1313 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -18.0581, 7.2137, 1.0037, -0.6813, 0.4957, -0.1001, -0.1026, -3.2889, 6.7077, 1.4628, 0.0122, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2245, 1.121, 0.9829, -0.8146, -0.3935, -0.2413, 0.9967, 0.0689, 1.0435, 0.8898, -0.7498, 0.0929, -0.102, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=0.0047 left_z=0.1855 left_yaw=0.239 left_pitch=-0.3043 left_roll=0.1843 left_gripper=0.9967 right_x=0.2909 right_y=0.0072 right_z=0.1688 right_yaw=0.034 right_pitch=-0.3433 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.9453, 6.6803, 1.5165, -0.2173, 0.0855, 0.1392, -0.1709, -3.1111, 6.8171, 1.4628, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1555, 1.7187, 1.3575, -0.6338, -0.3576, -0.2089, 0.9968, 0.0689, 1.0473, 0.8894, -0.7506, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4424 left_y=-0.0031 left_z=0.1452 left_yaw=0.267 left_pitch=-0.3587 left_roll=0.1968 left_gripper=0.9968 right_x=0.2909 right_y=0.0072 right_z=0.1675 right_yaw=0.0337 right_pitch=-0.3482 right_roll=-0.132 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.7453, 8.841, 1.5165, -0.1099, 0.315, 0.0024, -0.1299, -3.0564, 6.6803, 1.3748, 0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c615704e4572c5f1cfa45380522aa26045b153fa6586b475f751e6aa1a45b1e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b239867be648a254ac25df2d816de93d4bd2ee6d8e34e83ae091ac361debddc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225234e43f87ca30f89ce2b6fb9705949ea009ccecd0d5d991abf0d4934198fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPaUDtA380zzj7yYo1C6WvuUx3fP3eQ6g1fssHSLHuUXY_QS7wRolQtom0mb3tPGUxAE0uHRznyRNZwNuutqpYTwuPnxVqt1YBnEkuB9-4TSulnQyKU3IikjGB4iCD7JMaga4l1yvW1Kn6p_5RZWcQFhnyMPyBIZGqjF7G4KgEqJISrE5cyYqZmjyLpSEqg7_0VIiVaFvOyX60pFgekKG5M9ZGGtOZlY3Lj4bHUlcwK-N0jpF3Vbzg6eGpCRyLYjk5eUIeuukeA0yeq_mSy-Wx8ZCQyfoB3K_MnGGc7v-MV96dxxLtPswO2xbkKnb4BzTBVc8ij9io-df-YI_T_BO09Yn_LjngYaSzElaEPz9A4DNQ3IOSCYUNwBsqMo9n00Y12rfsuSnS80yvPv2WZt95FRA06wMKU6T8XcNmxOPfmwlfPTK2AfnlnwKtRiuNDq3mDRmHU7AmVhbawnCzHYZZEOOFwzsZUdcUu-eSXHpM3MqY6Q-xuDKXtXGFGB8VMKQcopYEwdUlC1a2qAnN9uoY31LcgImGqlsWHfYpvgq5HchdkYvXf8GwAUjQhqLEEA1xue0j_-T2T7AC6n4-PPgEZp0pcdIoG3UuJ5kKaf5RUDcsTTyBlc-3ajSSJLKjgQsijO5FS1qOTLZQDhHKgPEmqv7wCGYopYgUnZumEplT7hBe1JlZ972RoItXfzXOMSTEuGMByo6T3XoVIw747iegC2mkWniRD_sHKLsZ-SWLg2w8Oer4vE3yj0UsCwoVwFzNjS9BOxQEUT-h_AYkqIY1IQ4Ur6dBqwuZBV0d3F_ftJ0FPYnI1dIGygA_j9ulU38ZCc2t5hyTx_CLu-NhizMvPoucDWUPXgJm6Z0VPubazmPb70j5PDfLi6vu2B9mE1zHW8QWJVZiABBgPwYz-XHpiuVAEYmBDXyiGbLGQ3L-3bU9dWRFNmTX6mdkratg_1ZjMFTTRs2pXH3Gcz3awgitXRnLbyCKqQp9UBU6anQaRK6PrDwzgHUNB8f9CHlh7VhP50SrvfZuyqGBIhPEE8pt44ngBTDt8cyU1wW7ZyLCN7iA_Qtg7XdbwnHivnStPUt2JnPNW99Fq4GoegB610k4UMRvN0sXE_UT0u-qzlhAvVwEW1Xlx4MGarTla4qx1w8j7HklwuUBZJTqY1g4CJIBZQyDAx8FYX11Gh8KWeI3BuxZjp6Esk62qmMiF64SjrF8xiwl3wCQcYIIu_45Ba1d3SgMNTdbYHS7wwIgwaSKnyxl5rxyXW0srs0lXhxlxAMKtsvLv-V6nbJGrHIFFCDkjSm3ZFciTEgznywm12R1JUQYTdHOK-so34I2mQwMaOHDL1jexuwqSEr03WlXnWpIDZKVGljznAMM21rHYKHv-vX_SXZn6igQZZl80MibD3CHZf_NmqyrgufueZJMXlFarsEvvIEV16tTM2nMZERDBxZCxLd3jMuNo7Hkvr5i3NKL0GRZyO_yZpfHPz8M5iLLPsuszTA6Nk9-beEbCHwBEqQn2ndn-r2C4LpFUM8fDAp422itcBDPMGbzP40S7zhL3lL7WAlSyNBbseIHFRURcRGWs0pVa1SAJUCY8c3dk0cRdAzz4x2nJ-BySly9M71mGIGKkU1rrnq0E92s24C_vVPqL5aVbQD4A7TcNUcb4Npbz5_-I7SNjzDcE2Mu52apl7JTffwLhn9-fvkeKhtnXZiyYfHmFwGEMkxKOC03yUAVkOpz_ewz3p5zTgO7VUs3KlI7OC-smq8lStBJJKtRLi9zEkDvkp6trUbEZDehbl1b39p4dNxj9w0bGZddJ7NisQqn_fOGwOetsnxQlcsD_GIN2i4Nq1nHuvDG-4gFR1UMEUXe0bPGJM-l48UdilOytameLuuuDfjJ1D8E9NbK9gb8=",
  "id": "rs_07d29d1e2f1cf04f016ab423d81f6487d0bb190b4d47745cf6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.046,\"left_z\":0.05},\"note\":\"The farther gray plush is visible just left and slightly behind the left jaws in the wrist camera. I’ll bring the open gripper back a little, shift it toward the left edge, and lower beside that plush’s torso.\"}",
  "call_id": "call_44sGda6UpoxV6nOVPPtW1AJC",
  "id": "fc_07d29d1e2f1cf04f016ab423d9bc9487d0a5408ef5bc5da14f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_44sGda6UpoxV6nOVPPtW1AJC",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0254, 1.6962, 0.9268, -0.2703, -0.2962, -0.1143, 0.9968, 0.0689, 1.0492, 0.8894, -0.7502, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.3931 left_y=0.0452 left_z=0.0406 left_yaw=0.2979 left_pitch=-0.4304 left_roll=0.2212 left_gripper=0.9968 right_x=0.2911 right_y=0.0072 right_z=0.1671 right_yaw=0.0337 right_pitch=-0.3497 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -9.0051, 6.2427, 1.5263, -0.0513, 0.0659, -0.0122, -0.1299, -2.6462, 6.9812, 1.409, 0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd248b679b824afb79dccc3fab718ada03ff4b489f3d1d1b12fb7d87f48b549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e7688c2cc7656fe32ff8c067aa4e927b7a073b3c513f508de544ed46a329352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f2e7d90e6d40f737c1cddba0c2689ee83488ead45afceed47696a3ba97b0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8967, 2.6179, 2.8777, -1.5547, -0.688, -0.8989, 0.9953, 0.0689, 1.0378, 0.8898, -0.7486, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4189 left_y=-0.3388 left_z=0.1664 left_yaw=0.1971 left_pitch=-0.2902 left_roll=0.1861 left_gripper=0.9953 right_x=0.2908 right_y=0.0072 right_z=0.1706 right_yaw=0.0339 right_pitch=-0.3364 right_roll=-0.1316 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -13.9829, 5.5726, 0.8278, -0.4908, 0.1392, -0.1685, -0.0205, -2.7145, 6.694, 1.4237, -0.0024, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1555, 1.7187, 1.3575, -0.6338, -0.3576, -0.2089, 0.9968, 0.0689, 1.0473, 0.8894, -0.7506, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.4424 left_y=-0.0031 left_z=0.1452 left_yaw=0.267 left_pitch=-0.3587 left_roll=0.1968 left_gripper=0.9968 right_x=0.2909 right_y=0.0072 right_z=0.1675 right_yaw=0.0337 right_pitch=-0.3482 right_roll=-0.132 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.7453, 8.841, 1.5165, -0.1099, 0.315, 0.0024, -0.1299, -3.0564, 6.6803, 1.3748, 0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0254, 1.6962, 0.9268, -0.2703, -0.2962, -0.1143, 0.9968, 0.0689, 1.0492, 0.8894, -0.7502, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.3931 left_y=0.0452 left_z=0.0406 left_yaw=0.2979 left_pitch=-0.4304 left_roll=0.2212 left_gripper=0.9968 right_x=0.2911 right_y=0.0072 right_z=0.1671 right_yaw=0.0337 right_pitch=-0.3497 right_roll=-0.1321 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -9.0051, 6.2427, 1.5263, -0.0513, 0.0659, -0.0122, -0.1299, -2.6462, 6.9812, 1.409, 0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd248b679b824afb79dccc3fab718ada03ff4b489f3d1d1b12fb7d87f48b549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e7688c2cc7656fe32ff8c067aa4e927b7a073b3c513f508de544ed46a329352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f2e7d90e6d40f737c1cddba0c2689ee83488ead45afceed47696a3ba97b0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_07d29d1e2f1cf04f016ab423dc672487d0bf8b253bbb621876",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_07d29d1e2f1cf04f016ab423e1215487d0a993a133ec751d5b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPmJWth192og-EP-95HsUzyR6BeDdIbhl5DjKMKTZGN4kdUZVR53J4qst3Hn684c6JM4QJNkuhg_Sa6HUlZBCaBTtd4vIGjPIxQx-5dHCsO3aLLxVLKkgWiT_ZTpEpybDehnsIZFgC7WFwqyNX8nNZikxm_tM4qVIlKr_MRi9i7cLu6tTu0O90vMwFwNtd1VMi-T-5PdZCriTOtr4s4v6dRbcOhGLuCzX3mke3Y7XC0ONj1APnjhpLFSD5f7bfLonSZGpmz3gVp8-HjRfgySMzQwVsv3GQXXn31Ie5gQXSLnOlOsqhQ610poNqW5nmwwY3SaGd4Lpbe2YGJz6TGlj_ZkuUJz8cVwOXRp5TZbT3BKMjjKi2AnPxWFztJF6o8ox8r7xw-242HFJh5Bb-SXhMlkM4mggm_TOJARSJD1ue4hCFaTxUha31sRpmLnJfA2W0DfPCPQSOdrEoAcmxW9Dqvntu2_FMYl8HPT_rawSAqPATR01waT1j-jH3o8BjBLEr1HPD5osvLLZLT0GUXKHvsvEQ2CVH1gFQg6H9ivUL8tAmI9WV3yc0q9SOox0nNKZ18jHz0pqyfxT7NkqDGUCEM6z8XtakVVM2uwA37ISo1e6hwHioagSqAOsVywaAaWIUSFmR7W8mAdNatgnpJp4PjlXrotgG9CXgl5TeGV_RfYT6SwkirDCBHsNTJjS4nW2DbowLfoW5x_YdrEYyjb4IO1eoQnn7k-7a3GdfCjBpgUqyK7lnPUSiA8LS4Fo84LkjEznpbIFryct4gaLsj94t_aQTIc3NyG5lq6YdftgbGjj-iVbTrgeQQ1zsCTfdNJe-P5dMA9vpAVo6OyF0VhlbdCDMR0rFdrDPw2-IGocTrz5tlaRHWSWd1ZyWwS7F0Ezmicr_Lo6lifYwWGkKBMC1joW4pW5rSo_C221yPbe7dIZBRRsQivC6kGAWMz7EwwLa7rWANONlvFMVJx-GDc_WRn5ZikNLJ4m7HxKBqvfeoAyLGpd7eAUWKB3MdvUQLZkJ5YDzdXfGKS-tpkfQv8vSw1OiXEmA5RxwPGcf-1XKtOQaBC_HMyNwXpJNR6LcyGnbcSjzmX9lc1q2VBUhahP-Rx_KYPHeR8ICTrmRKb-llNWBmGf_J6olpf3XoLtniRMWHLgrEoAs6hPKOiR_Dz189QjLlft3Js852lRXiHIb9nLM10HTNo7-LO_fcd5zOeKpPazHeE8yu91clz-w6MtoqXeumhv9eVjh7VhYG3hOnkTCgP4xpyQuXV7pH5FP1zq2z0DIzvkkEUkG3gcIOiJCqqsYmrHSZpeADnZBqxzcfsno=",
  "id": "rs_07d29d1e2f1cf04f016ab423e5118487d096c606c97b251cdd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.13,\"left_z\":0.045},\"note\":\"The gray plush is still outside the left gripper’s centreline at the fence-side limit. I’ll try one controlled inward nudge with the open outer finger at the plush’s body height; if it does not move the toy toward the left basket, I won’t keep scraping along the edge.\"}",
  "call_id": "call_SNHgJg5zP6sZDJV8EJJVT1kk",
  "id": "fc_07d29d1e2f1cf04f016ab423e564dc87d0b9008236a9e8a0a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SNHgJg5zP6sZDJV8EJJVT1kk",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5404, 1.8599, 1.1587, -0.5518, -0.4957, -0.6048, 0.9969, 0.0689, 1.0538, 0.8886, -0.7509, 0.0929, -0.1017, 0.9965]\nstate[eef_state]: left_x=0.3808 left_y=-0.1263 left_z=0.0388 left_yaw=0.2773 left_pitch=-0.4511 left_roll=0.2248 left_gripper=0.9969 right_x=0.291 right_y=0.0072 right_z=0.1654 right_yaw=0.0336 right_pitch=-0.3558 right_roll=-0.1323 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -8.1709, 7.706, 0.7937, -0.5104, -0.0415, -0.0073, -0.1299, -3.1795, 6.7487, 1.3455, 0.0122, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 481):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c592a4ef44155944bf23634bfbf6b733d00301614ffd71508d498bf380cded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 481):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbf3851bbb7a37e1981223ce513bc5f1341f047cc5012d1f941a838d4260244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 481):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b9bda6e24080df8521e9a7495410c981f667c394f92d442009a2bb0a9d579d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}